mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
0ea8104344
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind) - rename message wind_estimate to wind - publish wind from currently used ekf instance (ekf2selector) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
23 lines
1.3 KiB
Plaintext
23 lines
1.3 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
|
|
|
float32 windspeed_north # Wind component in north / X direction (m/sec)
|
|
float32 windspeed_east # Wind component in east / Y direction (m/sec)
|
|
|
|
float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
|
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
|
|
|
float32 tas_innov # True airspeed innovation
|
|
float32 tas_innov_var # True airspeed innovation variance
|
|
float32 tas_scale # Estimated true airspeed scale factor
|
|
|
|
float32 beta_innov # Sideslip measurement innovation
|
|
float32 beta_innov_var # 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)
|