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docs: Clarify difference between Wind.msg and AirspeedWind.msg

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mahima-yoga 2025-08-06 10:35:01 +02:00 committed by Mahima Yoga
parent ecceb403a0
commit a55f3afc14
2 changed files with 41 additions and 28 deletions
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36
msg/AirspeedWind.msg
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@ -1,26 +1,34 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# Wind estimate (from airspeed_selector)
#
# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
# in the airspeed selector module.
#
# This message is published by the airspeed selector for debugging purposes, and is not
# subscribed to by any other modules.
float32 windspeed_north # Wind component in north / X direction (m/sec)
float32 windspeed_east # Wind component in east / Y direction (m/sec)
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
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 windspeed_north # [m/s] Wind component in north / X direction
float32 windspeed_east # [m/s] Wind component in east / Y direction
float32 tas_innov # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
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] True airspeed innovation variance
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
float32 tas_scale_raw_var # True airspeed scale factor variance
float32 tas_scale_validated # Estimated true airspeed scale factor after validation
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance
float32 beta_innov # [rad] Sideslip measurement innovation
float32 beta_innov_var # [rad^2] 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)
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)

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msg/versioned/Wind.msg
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# 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 # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
float32 windspeed_north # Wind component in north / X direction (m/sec)
float32 windspeed_east # Wind component in east / Y direction (m/sec)
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 # 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 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 # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
float32 tas_innov # [m/s] True airspeed innovation
float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance
float32 beta_innov # [rad] Sideslip measurement innovation
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
# TOPICS wind estimator_wind