px4-firmware/msg/vehicle_magnetometer.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 selected magnetometer
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.