Estimator status message including flags, innovation test ratios and
                estimated accuracies. The flags message is an integer
                bitmask containing information on which EKF outputs
                are valid. See the ESTIMATOR_STATUS_FLAGS enum
                definition for further information. The innovaton test
                ratios show the magnitude of the sensor innovation
                divided by the innovation check threshold. Under
                normal operation the innovaton test ratios should be
                below 0.5 with occasional values up to 1.0. Values
                greater than 1.0 should be rare under normal operation
                and indicate that a measurement has been rejected by
                the filter. The user should be notified if an
                innovation test ratio greater than 1.0 is recorded.
                Notifications for values in the range between 0.5 and
                1.0 should be optional and controllable by the user.

                time_usec                 : Timestamp (micros since boot or Unix epoch) (uint64_t)
                flags                     : Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS. (uint16_t)
                vel_ratio                 : Velocity innovation test ratio (float)
                pos_horiz_ratio           : Horizontal position innovation test ratio (float)
                pos_vert_ratio            : Vertical position innovation test ratio (float)
                mag_ratio                 : Magnetometer innovation test ratio (float)
                hagl_ratio                : Height above terrain innovation test ratio (float)
                tas_ratio                 : True airspeed innovation test ratio (float)
                pos_horiz_accuracy        : Horizontal position 1-STD accuracy relative to the EKF local origin (m) (float)
                pos_vert_accuracy         : Vertical position 1-STD accuracy relative to the EKF local origin (m) (float)

def estimator_status_send(self, time_usec, flags, vel_ratio, pos_horiz_ratio, pos_vert_ratio, mag_ratio, hagl_ratio, tas_ratio, pos_horiz_accuracy, pos_vert_accuracy, force_mavlink1=False):
                '''
                Estimator status message including flags, innovation test ratios and
                estimated accuracies. The flags message is an integer
                bitmask containing information on which EKF outputs
                are valid. See the ESTIMATOR_STATUS_FLAGS enum
                definition for further information. The innovaton test
                ratios show the magnitude of the sensor innovation
                divided by the innovation check threshold. Under
                normal operation the innovaton test ratios should be
                below 0.5 with occasional values up to 1.0. Values
                greater than 1.0 should be rare under normal operation
                and indicate that a measurement has been rejected by
                the filter. The user should be notified if an
                innovation test ratio greater than 1.0 is recorded.
                Notifications for values in the range between 0.5 and
                1.0 should be optional and controllable by the user.

                time_usec                 : Timestamp (micros since boot or Unix epoch) (uint64_t)
                flags                     : Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS. (uint16_t)
                vel_ratio                 : Velocity innovation test ratio (float)
                pos_horiz_ratio           : Horizontal position innovation test ratio (float)
                pos_vert_ratio            : Vertical position innovation test ratio (float)
                mag_ratio                 : Magnetometer innovation test ratio (float)
                hagl_ratio                : Height above terrain innovation test ratio (float)
                tas_ratio                 : True airspeed innovation test ratio (float)
                pos_horiz_accuracy        : Horizontal position 1-STD accuracy relative to the EKF local origin (m) (float)
                pos_vert_accuracy         : Vertical position 1-STD accuracy relative to the EKF local origin (m) (float)

                '''
                return self.send(self.estimator_status_encode(time_usec, flags, vel_ratio, pos_horiz_ratio, pos_vert_ratio, mag_ratio, hagl_ratio, tas_ratio, pos_horiz_accuracy, pos_vert_accuracy), force_mavlink1=force_mavlink1)