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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint8 estimator_instance
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uint32 device_id
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2022-10-12 10:59:23 -03:00
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uint64 time_last_fuse
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float32[3] observation
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float32[3] observation_variance
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float32[3] innovation
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float32[3] innovation_variance
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float32[3] test_ratio
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2022-10-12 10:59:23 -03:00
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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2023-02-07 14:28:58 -04:00
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# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
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