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# VteBiasInitStatus (UORB message)

Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.

Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running.
Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.

**TOPICS:** vte_bias_init_status

## Fields

| Назва                                                            | Тип          | Unit [Frame] | Range/Enum | Опис                                                                                                                                   |
| ---------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                              | `uint64`     | us                                                               |            | Time since system start                                                                                                                |
| <a id="fld_raw_bias"></a>raw_bias           | `float32[3]` | m [NED]      |            | Current GNSS-vision bias sample                                                                                                        |
| <a id="fld_filtered_bias"></a>filtered_bias | `float32[3]` | m [NED]      |            | Low-pass filtered bias sample                                                                                                          |
| <a id="fld_delta_norm"></a>delta_norm       | `float32`    | m                                                                |            | norm(raw_bias_k - raw_bias_k-1) |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VteBiasInitStatus.msg)

:::details
Click here to see original file

```c
# Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.
#
# Published by: vision_target_estimator (VTEPosition) while the bias low-pass filter is running.
# Subscribed by: logger only, to verify that the bias settles before the estimator starts fusing vision.

uint64 timestamp # [us] Time since system start

float32[3] raw_bias # [m] [@frame NED] Current GNSS-vision bias sample
float32[3] filtered_bias # [m] [@frame NED] Low-pass filtered bias sample
float32 delta_norm # [m] norm(raw_bias_k - raw_bias_k-1)
```

:::