AirspeedValidated (UORB message)

Validated airspeed.

Provides information about airspeed (indicated, true, calibrated) and the source of the data. Used by controllers, estimators and for airspeed reporting to operator.

TOPICS: airspeed_validated

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64	us		Time since system start
indicated_airspeed_m_s	float32	m/s		Indicated airspeed (IAS) (Invalid: NaN)
calibrated_airspeed_m_s	float32	m/s		Calibrated airspeed (CAS) (Invalid: NaN)
true_airspeed_m_s	float32	m/s		True airspeed (TAS) (Invalid: NaN)
airspeed_source	int8		SOURCE	Source of currently published airspeed values
calibrated_ground_minus_wind_m_s	float32	m/s		CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN)
calibraded_airspeed_synth_m_s	float32	m/s		Synthetic airspeed (Invalid: NaN)
airspeed_derivative_filtered	float32	m/s^2		Filtered indicated airspeed derivative
throttle_filtered	float32			Filtered fixed-wing throttle
pitch_filtered	float32	rad		Filtered pitch

Enums

SOURCE

Used in field(s): airspeed_source

명칭	형식	Value	설명
SOURCE_DISABLED	int8	-1	Disabled
SOURCE_GROUND_MINUS_WIND	int8	0	Ground speed minus wind
SOURCE_SENSOR_1	int8	1	Sensor 1
SOURCE_SENSOR_2	int8	2	Sensor 2
SOURCE_SENSOR_3	int8	3	Sensor 3
SOURCE_SYNTHETIC	int8	4	Synthetic airspeed

Constants

명칭	형식	Value	설명
MESSAGE_VERSION	uint32	1

Source Message

Source file (GitHub)

Details

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# Validated airspeed
#
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
# Used by controllers, estimators and for airspeed reporting to operator.

uint32 MESSAGE_VERSION = 1

uint64 timestamp # [us] Time since system start

float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)

int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
int8 SOURCE_DISABLED = -1 # Disabled
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed

float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
float32 throttle_filtered # [-] Filtered fixed-wing throttle
float32 pitch_filtered # [rad] Filtered pitch