> 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/hoverthrustestimate.md).

# HoverThrustEstimate

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

```c
uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # time of corresponding sensor data last used for this estimate

float32 hover_thrust		# estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var	# estimated hover thrust variance

float32 accel_innov		# innovation of the last acceleration fusion
float32 accel_innov_var		# innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio	# normalized innovation squared test ratio

float32 accel_noise_var		# vertical acceleration noise variance estimated form innovation residual

bool valid

```