EstimatorBias (UORB message)

source file

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 estimator_rng_hgt_bias