# 估计器选择器状态（UORB 消息）
uint64 timestamp # 系统运行以来的时间 启动 (微秒)
uint8 primary_instance uint8 instances_available uint32 instance_changed_count uint64 last_instance_change uint32 accel_device_id uint32 baro_device_id uint32 gyro_device_id uint32 mag_device_id float32[9] 合并测试比率 float32[9] relative_test_ratio bool[9] 健康 float32[4] 累计gyro_error float32[4] accumulated_accel_error bool gyro_fault_detected bool accel_fault_detected