# estimator_aid_source_3d (UORB message)
source file (opens new window)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 estimator_instance
uint32 device_id
uint64[3] time_last_fuse
float32[3] observation
float32[3] observation_variance
float32[3] innovation
float32[3] innovation_variance
float32[3] test_ratio
bool[3] fusion_enabled # true when measurements are being fused
bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel