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

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RtlTimeEstimate (UORB message)

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uint64 timestamp # time since system start (microseconds)

bool valid			# Flag indicating whether the time estiamtes are valid
float32 time_estimate		# [s] Estimated time for RTL
float32 safe_time_estimate	# [s] Same as time_estimate, but with safety factor and safety margin included (factor*t + margin)