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[messages] wind_ekf
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@dewagter
dewagter committed Sep 22, 2023
1 parent 976ed52 commit eb3f57e
Showing 1 changed file with 68 additions and 3 deletions.
71 changes: 68 additions & 3 deletions message_definitions/v1.0/messages.xml
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Original file line number Diff line number Diff line change
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<field name="mz" type="float" />
</message>

<!-- 194 is free -->
<!-- 195 is free -->
<!-- 196 is free -->
<message name="AIRSPEED_WIND_ESTIMATOR_EKF_FORCES" id="194">
<field name="fuselage_x" type="float" unit="N"/>
<field name="fuselage_y" type="float" unit="N"/>
<field name="fuselage_z" type="float" unit="N"/>
<field name="wing_x" type="float" unit="N"/>
<field name="wing_y" type="float" unit="N"/>
<field name="wing_z" type="float" unit="N"/>
<field name="elevator_x" type="float" unit="N"/>
<field name="elevator_y" type="float" unit="N"/>
<field name="elevator_z" type="float" unit="N"/>
<field name="hover_x" type="float" unit="N"/>
<field name="hover_y" type="float" unit="N"/>
<field name="hover_z" type="float" unit="N"/>
<field name="pusher_x" type="float" unit="N"/>
<field name="pusher_y" type="float" unit="N"/>
<field name="pusher_z" type="float" unit="N"/>
<field name="skew" type="float" unit="rad"/>
<field name="elevator_angle" type="float" unit="rad"/>
<field name="pusher_prop" type="float" unit="RPM"/>
<field name="hover_prop" type="float" unit="RPM"/>
</message>

<message name="AIRSPEED_WIND_ESTIMATOR_EKF_COV" id="195">
<field name="Q_accel" type="float" unit="-"/>
<field name="Q_gyro" type="float" unit="-"/>
<field name="Q_mu_x" type="float" unit="-"/>
<field name="Q_mu_y" type="float" unit="-"/>
<field name="Q_mu_z" type="float" unit="-"/>
<field name="Q_k" type="float" unit="-"/>
<field name="R_V_gnd" type="float" unit="-"/>
<field name="R_accel_filt_x" type="float" unit="-"/>
<field name="R_accel_filt_y" type="float" unit="-"/>
<field name="R_accel_filt_z" type="float" unit="-"/>
<field name="R_V_pitot" type="float" unit="-"/>
<field name="P_u" type="float" unit="-"/>
<field name="P_v" type="float" unit="-"/>
<field name="P_w" type="float" unit="-"/>
<field name="P_mu_x" type="float" unit="-"/>
<field name="P_mu_y" type="float" unit="-"/>
<field name="P_mu_z" type="float" unit="-"/>
<field name="P_k_x" type="float" unit="-"/>
<field name="P_k_y" type="float" unit="-"/>
<field name="P_k_z" type="float" unit="-"/>
</message>

<message name="AIRSPEED_WIND_ESTIMATOR_EKF" id="196">
<field name="u_est" type="float" unit="m/s"/>
<field name="v_est" type="float" unit="m/s"/>
<field name="w_est" type="float" unit="m/s"/>
<field name="mu_N" type="float" unit="m/s"/>
<field name="mu_E" type="float" unit="m/s"/>
<field name="mu_D" type="float" unit="m/s"/>
<field name="offset_x" type="float" unit="-"/>
<field name="offset_y" type="float" unit="-"/>
<field name="offset_z" type="float" unit="-"/>
<field name="healthy" type="uint8" unit="bool"/>
<field name="crashes_n" type="uint16" unit="-"/>
<field name="innov_V_gnd_x" type="float" unit="-"/>
<field name="innov_V_gnd_y" type="float" unit="-"/>
<field name="innov_V_gnd_z" type="float" unit="-"/>
<field name="innov_acc_x" type="float" unit="-"/>
<field name="innov_acc_y" type="float" unit="-"/>
<field name="innov_acc_z" type="float" unit="-"/>
<field name="innov_V_pitot" type="float" unit="-"/>
<field name="debug_1" type="float" unit="-"/>
<field name="debug_2" type="float" unit="-"/>
<field name="debug_3" type="float" unit="-"/>
</message>

<message name="NPS_SENSORS_SCALED" id="197">
<field name="acc_x" type="float" />
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