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

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MagnetometerBiasEstimate (UORB message)

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uint64 timestamp                # time since system start (microseconds)

float32[4] bias_x		# estimated X-bias of all the sensors
float32[4] bias_y		# estimated Y-bias of all the sensors
float32[4] bias_z		# estimated Z-bias of all the sensors

bool[4] valid			# true if the estimator has converged
bool[4] stable