---
pageClass: is-wide-page
---

# 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 |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg)

::: details Click here to see original file

```c
# 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
```

:::
