PX4-Autopilot/docs/en/msg_docs/Wind.md

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Wind (UORB message)

Wind estimate (from EKF2).

Contains the system-wide estimate of horizontal wind velocity and its variance. Published by the navigation filter (EKF2) for use by other flight modules and libraries.

TOPICS: wind estimator_wind

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Timestamp of the raw data
windspeed_north	float32	m/s		Wind component in north / X direction
windspeed_east	float32	m/s		Wind component in east / Y direction
variance_north	float32	(m/s)^2		Wind estimate error variance in north / X direction (Invalid: 0 if not estimated)
variance_east	float32	(m/s)^2		Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated)
tas_innov	float32	m/s		True airspeed innovation
tas_innov_var	float32	(m/s)^2		True airspeed innovation variance
beta_innov	float32	rad		Sideslip measurement innovation
beta_innov_var	float32	rad^2		Sideslip measurement innovation variance

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

::: details Click here to see original file

# Wind estimate (from EKF2)
#
# Contains the system-wide estimate of horizontal wind velocity and its variance.
# Published by the navigation filter (EKF2) for use by other flight modules and libraries.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data

float32 windspeed_north # [m/s] Wind component in north / X direction
float32 windspeed_east # [m/s] Wind component in east / Y direction

float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction

float32 tas_innov # [m/s] True airspeed innovation
float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance

float32 beta_innov # [rad] Sideslip measurement innovation
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance

# TOPICS wind estimator_wind

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