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[2] observation
float32[2] observation_variance
float32[2] innovation
float32[2] innovation_variance
float32[2] test_ratio
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
# TOPICS estimator_aid_src_drag