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85 lines
7.2 KiB
Markdown
85 lines
7.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# AirspeedValidated (повідомлення UORB)
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Validated airspeed.
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Provides information about airspeed (indicated, true, calibrated) and the source of the data.
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Used by controllers, estimators and for airspeed reporting to operator.
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**TOPICS:** airspeed_validated
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) |
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| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) |
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| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) |
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| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values |
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| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) |
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| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) |
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| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative |
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| throttle_filtered | `float32` | | | Filtered fixed-wing throttle |
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| pitch_filtered | `float32` | rad | | Filtered pitch |
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## Enums
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### SOURCE {#SOURCE}
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------- |
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| <a id="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
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| <a id="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
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| <a id="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
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| <a id="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
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| <a id="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
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| <a id="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------ | -------- | -------- | ---- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
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:::details
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Click here to see original file
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```c
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# Validated airspeed
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#
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# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
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# Used by controllers, estimators and for airspeed reporting to operator.
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start
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float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
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float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
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float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
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int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
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int8 SOURCE_DISABLED = -1 # Disabled
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int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
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int8 SOURCE_SENSOR_1 = 1 # Sensor 1
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int8 SOURCE_SENSOR_2 = 2 # Sensor 2
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int8 SOURCE_SENSOR_3 = 3 # Sensor 3
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int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
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float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
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float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
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float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
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float32 throttle_filtered # [-] Filtered fixed-wing throttle
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float32 pitch_filtered # [rad] Filtered pitch
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```
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:::
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