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

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AirspeedWind (UORB message)

Wind estimate (from airspeed_selector).

Contains wind estimation and airspeed innovation information estimated by the WindEstimator in the airspeed selector module.

This message is published by the airspeed selector for debugging purposes, and is not subscribed to by any other modules.

TOPICS: airspeed_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		True airspeed innovation variance
tas_scale_raw	float32			Estimated true airspeed scale factor (not validated)
tas_scale_raw_var	float32			True airspeed scale factor variance
tas_scale_validated	float32			Estimated true airspeed scale factor after validation
beta_innov	float32	rad		Sideslip measurement innovation
beta_innov_var	float32	rad^2		Sideslip measurement innovation variance
source	uint8			source of wind estimate

Constants

Name	Type	Value	Description
SOURCE_AS_BETA_ONLY	uint8	0	Wind estimate only based on synthetic sideslip fusion
SOURCE_AS_SENSOR_1	uint8	1	Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
SOURCE_AS_SENSOR_2	uint8	2	Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
SOURCE_AS_SENSOR_3	uint8	3	Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)

Source Message

Source file (GitHub)

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# Wind estimate (from airspeed_selector)
#
# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
# in the airspeed selector module.
#
# This message is published by the airspeed selector for debugging purposes, and is not
# subscribed to by any other modules.

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] True airspeed innovation variance

float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
float32 tas_scale_raw_var # True airspeed scale factor variance

float32 tas_scale_validated # Estimated true airspeed scale factor after validation

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

uint8 source # source of wind estimate

uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion
uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)

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