Wind (UORB message)
Wind estimate (from EKF2).
Contains the system-wide estimate of horizontal wind velocity and its variance. Published by the navigation filter (EKF2) for use by other flight modules and libraries.
TOPICS: wind estimator_wind
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| timestamp | uint64 | us | Time since system start | |
| timestamp_sample | uint64 | us | Timestamp of the raw data | |
| windspeed_north | float32 | m/s | Wind component in north / X direction | |
| windspeed_east | float32 | m/s | Wind component in east / Y direction | |
| variance_north | float32 | (m/s)^2 | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | |
| variance_east | float32 | (m/s)^2 | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | |
| tas_innov | float32 | m/s | True airspeed innovation | |
| tas_innov_var | float32 | (m/s)^2 | True airspeed innovation variance | |
| beta_innov | float32 | rad | Sideslip measurement innovation | |
| beta_innov_var | float32 | rad^2 | Sideslip measurement innovation variance |
Constants
| 명칭 | 형식 | Value | 설명 |
|---|---|---|---|
| MESSAGE_VERSION | uint32 | 0 |
Source Message
Details
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c
# Wind estimate (from EKF2)
#
# Contains the system-wide estimate of horizontal wind velocity and its variance.
# Published by the navigation filter (EKF2) for use by other flight modules and libraries.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
float32 windspeed_north # [m/s] Wind component in north / X direction
float32 windspeed_east # [m/s] Wind component in east / Y direction
float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
float32 tas_innov # [m/s] True airspeed innovation
float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance
float32 beta_innov # [rad] Sideslip measurement innovation
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
# TOPICS wind estimator_wind