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docs/en/msg_docs/Wind.md
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@@ -1,11 +1,42 @@
---
pageClass: is-wide-page
---
# Wind (UORB message)
Wind estimate (from EKF2)
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.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg)
**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 href="#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)
@@ -31,5 +62,6 @@ float32 beta_innov # [rad] Sideslip measurement innovation
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
# TOPICS wind estimator_wind
```
:::