mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-10 16:32:16 +08:00
cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
27 lines
1.5 KiB
Plaintext
27 lines
1.5 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32 windspeed_north # Wind component in north / X direction (m/sec)
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float32 windspeed_east # Wind component in east / Y direction (m/sec)
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float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 tas_innov # True airspeed innovation
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float32 tas_innov_var # True airspeed innovation variance
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float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
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float32 tas_scale_raw_var # True airspeed scale factor variance
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float32 tas_scale_validated # Estimated true airspeed scale factor after validation
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float32 beta_innov # Sideslip measurement innovation
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float32 beta_innov_var # Sideslip measurement innovation variance
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uint8 source # source of wind estimate
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uint8 SOURCE_AS_BETA_ONLY = 0 # wind estimate only based on synthetic sideslip fusion
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uint8 SOURCE_AS_SENSOR_1 = 1 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
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uint8 SOURCE_AS_SENSOR_2 = 2 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
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uint8 SOURCE_AS_SENSOR_3 = 3 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
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