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px4-firmware/msg/AirspeedWind.msg

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add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
uint64 timestamp # time since system start (microseconds)
estimator messages add explicit timestamp_sample - timestamp is uORB publication metadata - this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-01 15:38:41 -03:00
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
delete control_state and cleanup vehicle_attitude (#7882)
2017-09-21 17:24:53 -03:00
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
wind estimate msg: added more relevant data - true airspeed innovation and variance - sideslip angle innovation and variance Signed-off-by: Roman <bapstroman@gmail.com>
2018-03-14 06:23:04 -03:00
float32 tas_innov # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
AirspeedSelector: airspeed scale estimation improvements and robustification - run airspeed scale estimation always, not in dedicated mode - add option to apply scale automatically, with extra feasibility check - add airspeed scale for all 3 possible airspeed instances - clean up parameters - add check for data stuck (non-changing airspeed data) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-10-11 10:05:27 -03:00
AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-10-11 11:21:07 -03:00
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
wind estimate msg: added more relevant data - true airspeed innovation and variance - sideslip angle innovation and variance Signed-off-by: Roman <bapstroman@gmail.com>
2018-03-14 06:23:04 -03:00
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance
wind_estimate message: add identifier for source Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2020-10-15 11:22:25 -03:00
uint8 source # source of wind estimate
select single system-wide wind estimate message (current best) - 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>
2021-02-20 14:15:01 -04:00
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)