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90 lines
7.5 KiB
Markdown
90 lines
7.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# AirspeedWind (повідомлення UORB)
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Wind estimate (from airspeed_selector).
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Contains wind estimation and airspeed innovation information estimated by the WindEstimator
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in the airspeed selector module.
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This message is published by the airspeed selector for debugging purposes, and is not
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subscribed to by any other modules.
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**TOPICS:** airspeed_wind
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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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| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
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| windspeed_north | `float32` | m/s | | Wind component in north / X direction |
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| windspeed_east | `float32` | m/s | | Wind component in east / Y direction |
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| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
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| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) |
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| tas_innov | `float32` | m/s | | True airspeed innovation |
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| tas_innov_var | `float32` | m/s | | True airspeed innovation variance |
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| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) |
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| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance |
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| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation |
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| beta_innov | `float32` | rad | | Sideslip measurement innovation |
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| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance |
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| source | `uint8` | | | source of wind estimate |
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## Constants
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| Назва | Тип | Значення | Опис |
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| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- |
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| <a id="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
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| <a id="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
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| <a id="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
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| <a id="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.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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# Wind estimate (from airspeed_selector)
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#
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# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
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# in the airspeed selector module.
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#
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# This message is published by the airspeed selector for debugging purposes, and is not
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# subscribed to by any other modules.
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw data
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float32 windspeed_north # [m/s] Wind component in north / X direction
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float32 windspeed_east # [m/s] Wind component in east / Y direction
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float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
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float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
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float32 tas_innov # [m/s] True airspeed innovation
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float32 tas_innov_var # [m/s] True airspeed innovation variance
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float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
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float32 tas_scale_raw_var # True airspeed scale factor variance
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float32 tas_scale_validated # Estimated true airspeed scale factor after validation
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float32 beta_innov # [rad] Sideslip measurement innovation
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float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
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uint8 source # source of wind estimate
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uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion
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uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
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uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
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uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
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```
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:::
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