added shear estimator module, not working yet

msg/CMakeLists.txt

@@ -145,6 +145,7 @@ set(msg_files
 	soaring_controller_position.msg
 	soaring_controller_status.msg
 	soaring_controller_wind.msg
+	soaring_estimator_shear.msg
 	system_power.msg
 	takeoff_status.msg
 	task_stack_info.msg

msg/soaring_controller_wind.msg

@@ -4,3 +4,4 @@ uint64 timestamp			# time since system start (microseconds)
 
 float32[3] wind_estimate                            # WIND ESTIMATE IN ENU FRAME
 float32[3] wind_estimate_filtered                   # LP-FILTERED WIND ESTIMATE IN ENU FRAME, USED BY INDI CONTROLLER
+float32[3] position                                 # position of the current estimate in the soaring frame

msg/soaring_estimator_shear.msg

@@ -0,0 +1,13 @@
+# SOARING ESTIMATOR WIND ESTIMATE, USED FOR SELECTING THE CORRECT TRAJECTORY
+
+uint64 timestamp			# time since system start (microseconds)
+
+float32 vx                  # maximum wind in x-direction
+float32 vy                  # maximum wind in y-direction
+float32 bx                  # wind offset in x-direction
+float32 by                  # wind offset in y-direction
+float32 h                   # vertical position of shear layer in soaring frame
+float32 a                   # shear strength
+
+bool params_healthy         # plausibility check
+uint64 reset_counter        # filter reset counter