uint64 timestamp             # time since system start (microseconds)
uint64 timestamp_sample      # the timestamp of the raw data (microseconds)

uint8 estimator_instance

uint32 device_id

uint64 time_last_fuse

float32[3] observation
float32[3] observation_variance

float32[3] innovation
float32[3] innovation_variance
float32[3] test_ratio

bool innovation_rejected     # true if the observation has been rejected
bool fused                   # true if the sample was successfully fused

# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag