mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
d468ec4e1d
- if the value exceeds 1, then airspeed checks will trigger - useful to monitoring the check and tuning Signed-off-by: RomanBapst <bapstroman@gmail.com>
28 lines
1.6 KiB
Plaintext
28 lines
1.6 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_innov_integ_test_ratio # Value > 1 indicates that innovation failure check has triggered
|
|
|
|
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
|
|
float32 tas_scale_raw_var # True airspeed scale factor variance
|
|
|
|
float32 tas_scale_validated # Estimated true airspeed scale factor after validation
|
|
|
|
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)
|