uint64 time_ref 					# ekf2 reference time. This is a timestamp passed to the
									# estimator which it uses a absolute reference.
uint64 gyro_integral_dt				# gyro integration period in us
uint64 accelerometer_integral_dt 	# accelerometer integration period in us
uint64 magnetometer_timestamp 		# timestamp of magnetometer measurement in us
uint64 baro_timestamp 				# timestamp of barometer measurement in us

float32[3] gyro_integral_rad			# integrated gyro vector in rad
float32[3] accelerometer_integral_m_s  	# integrated accelerometer vector in m/s

float32[3] magnetometer_ga 			# magnetometer measurement vector (body fixed NED) in ga
float32 baro_alt_meter				# barometer altitude measurement in m

uint64 time_usec # timestamp of gps position measurement in us
uint64 time_usec_vel # timestamp of gps velocity measurement in us
int32 lat			# Latitude in 1E-7 degrees
int32 lon			# Longitude in 1E-7 degrees 
int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
uint8 fix_type
float32 eph			# GPS horizontal position accuracy (metres) 
float32 epv			# GPS vertical position accuracy (metres)
float32 vel_m_s			# GPS ground speed, (metres/sec) 
float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
float32 vel_e_m_s		# GPS East velocity, (metres/sec)
float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
bool vel_ned_valid		# True if NED velocity is valid