> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/development/middleware/msg_docs/estimatoraidsource3d.md).

# EstimatorAidSource3d

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)

```c
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 fusion_enabled          # true when measurements are being fused
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

```