px4-firmware/msg/EstimatorBias.msg

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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 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