PX4-Autopilot/docs/en/msg_docs/EstimatorBias.md

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EstimatorBias (UORB message)

TOPICS: estimator_baro_bias estimator_gnss_hgt_bias

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
device_id	uint32			unique device ID for the sensor that does not change between power cycles
bias	float32			estimated barometric altitude bias (m)
bias_var	float32			estimated barometric altitude bias variance (m^2)
innov	float32			innovation of the last measurement fusion (m)
innov_var	float32			innovation variance of the last measurement fusion (m^2)
innov_test_ratio	float32			normalized innovation squared test ratio

Source Message

Source file (GitHub)

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uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

uint32 device_id		# unique device ID for the sensor that does not change between power cycles
float32 bias			# estimated barometric altitude bias (m)
float32 bias_var		# estimated barometric altitude bias variance (m^2)

float32 innov			# innovation of the last measurement fusion (m)
float32 innov_var		# innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio	# normalized innovation squared test ratio

# TOPICS estimator_baro_bias estimator_gnss_hgt_bias

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