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36 lines
1.3 KiB
Markdown
36 lines
1.3 KiB
Markdown
# Wind (UORB message)
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Wind estimate (from EKF2)
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Contains the system-wide estimate of horizontal wind velocity and its variance.
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Published by the navigation filter (EKF2) for use by other flight modules and libraries.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg)
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```c
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# Wind estimate (from EKF2)
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#
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# Contains the system-wide estimate of horizontal wind velocity and its variance.
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# Published by the navigation filter (EKF2) for use by other flight modules and libraries.
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uint32 MESSAGE_VERSION = 0
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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)^2] True airspeed innovation variance
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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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# TOPICS wind estimator_wind
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```
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