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PX4-Autopilot/docs/en/msg_docs/EstimatorStates.md

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EstimatorStates (UORB message)

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

float32[25] states		# Internal filter states
uint8 n_states		# Number of states effectively used

float32[24] covariances	# Diagonal Elements of Covariance Matrix