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62 lines
2.8 KiB
Markdown
62 lines
2.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorSelectorStatus (UORB message)
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**TOPICS:** estimator_selector_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_primary_instance"></a>primary_instance | `uint8` | | |
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| <a id="fld_instances_available"></a>instances_available | `uint8` | | |
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| <a id="fld_instance_changed_count"></a>instance_changed_count | `uint32` | | |
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| <a id="fld_last_instance_change"></a>last_instance_change | `uint64` | | |
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| <a id="fld_accel_device_id"></a>accel_device_id | `uint32` | | |
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| <a id="fld_baro_device_id"></a>baro_device_id | `uint32` | | |
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| <a id="fld_gyro_device_id"></a>gyro_device_id | `uint32` | | |
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| <a id="fld_mag_device_id"></a>mag_device_id | `uint32` | | |
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| <a id="fld_combined_test_ratio"></a>combined_test_ratio | `float32[9]` | | |
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| <a id="fld_relative_test_ratio"></a>relative_test_ratio | `float32[9]` | | |
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| <a id="fld_healthy"></a>healthy | `bool[9]` | | |
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| <a id="fld_accumulated_gyro_error"></a>accumulated_gyro_error | `float32[4]` | | |
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| <a id="fld_accumulated_accel_error"></a>accumulated_accel_error | `float32[4]` | | |
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| <a id="fld_gyro_fault_detected"></a>gyro_fault_detected | `bool` | | |
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| <a id="fld_accel_fault_detected"></a>accel_fault_detected | `bool` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 primary_instance
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uint8 instances_available
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uint32 instance_changed_count
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uint64 last_instance_change
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uint32 accel_device_id
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uint32 baro_device_id
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uint32 gyro_device_id
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uint32 mag_device_id
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float32[9] combined_test_ratio
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float32[9] relative_test_ratio
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bool[9] healthy
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float32[4] accumulated_gyro_error
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float32[4] accumulated_accel_error
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bool gyro_fault_detected
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bool accel_fault_detected
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```
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:::
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