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# AirspeedWind (повідомлення UORB)

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.

**TOPICS:** airspeed_wind

## Fields

| Назва                                                                            | Тип       | Unit [Frame] | Range/Enum | Опис                                                                                                                 |
| -------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
| 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                                                              |            | True airspeed innovation variance                                                                                    |
| tas_scale_raw                          | `float32` |                                                                  |            | Estimated true airspeed scale factor (not validated)                                              |
| tas_scale_raw_var | `float32` |                                                                  |            | True airspeed scale factor variance                                                                                  |
| tas_scale_validated                    | `float32` |                                                                  |            | Estimated true airspeed scale factor after validation                                                                |
| beta_innov                                                  | `float32` | rad                                                              |            | Sideslip measurement innovation                                                                                      |
| beta_innov_var                         | `float32` | rad^2                                                            |            | Sideslip measurement innovation variance                                                                             |
| source                                                                           | `uint8`   |                                                                  |            | source of wind estimate                                                                                              |

## Constants

| Назва                                                                                                                | Тип     | Значення | Опис                                                                                                  |
| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- |
| <a id="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0        | Wind estimate only based on synthetic sideslip fusion                                                 |
| <a id="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1   | `uint8` | 1        | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)  |
| <a id="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2   | `uint8` | 2        | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
| <a id="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3   | `uint8` | 3        | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)  |

## Source Message

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

:::details
Click here to see original file

```c
# 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.

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] 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 # [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)
```

:::