fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 13:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

select single system-wide wind estimate message (current best)

Browse Source 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-02-20 13:15:01 -05:00
committed by GitHub
parent 9d65e9a980
commit 0ea8104344
17 changed files with 119 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/airspeed_wind.msg
+22
View File
@@ -0,0 +1,22 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32 windspeed_north # Wind component in north / X direction (m/sec)
float32 windspeed_east # Wind component in east / Y direction (m/sec)
float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
float32 tas_innov # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
float32 tas_scale # Estimated true airspeed scale factor
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # 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)