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69 lines
4.5 KiB
Markdown
69 lines
4.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# 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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**TOPICS:** wind estimator_wind
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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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)^2 | | True airspeed innovation variance |
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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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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ------------------------------------------------------------------ | -------- | ----- | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.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 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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:::
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