PX4-Autopilot/docs/en/msg_docs/EstimatorBias3d.md

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EstimatorBias3d (UORB message)

TOPICS: estimator_bias3d estimator_ev_pos_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[3]			estimated barometric altitude bias (m)
bias_var	float32[3]			estimated barometric altitude bias variance (m^2)
innov	float32[3]			innovation of the last measurement fusion (m)
innov_var	float32[3]			innovation variance of the last measurement fusion (m^2)
innov_test_ratio	float32[3]			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[3] bias                 # estimated barometric altitude bias (m)
float32[3] bias_var             # estimated barometric altitude bias variance (m^2)

float32[3] innov                # innovation of the last measurement fusion (m)
float32[3] innov_var            # innovation variance of the last measurement fusion (m^2)
float32[3] innov_test_ratio     # normalized innovation squared test ratio

# TOPICS estimator_bias3d
# TOPICS estimator_ev_pos_bias

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