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>

msg/CMakeLists.txt

@@ -41,6 +41,7 @@ set(msg_files
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg
+	airspeed_wind.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
@@ -66,12 +67,12 @@ set(msg_files
 	follow_target.msg
 	generator_status.msg
 	geofence_result.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
 	gimbal_device_attitude_status.msg
 	gimbal_device_information.msg
+	gimbal_device_set_attitude.msg
 	gimbal_manager_information.msg
+	gimbal_manager_set_attitude.msg
+	gimbal_manager_set_manual_control.msg
 	gimbal_manager_status.msg
 	gps_dump.msg
 	gps_inject_data.msg
@@ -181,7 +182,7 @@ set(msg_files
 	vehicle_trajectory_waypoint.msg
 	vtol_vehicle_status.msg
 	wheel_encoders.msg
-	wind_estimate.msg
+	wind.msg
 	yaw_estimator_status.msg
 )
 

msg/airspeed_wind.msg

@@ -16,8 +16,7 @@ float32 beta_innov_var 		# Sideslip measurement innovation variance
 
 uint8 source			# source of wind estimate
 
-uint8 SOURCE_EKF = 0		# wind estimate source is the EKF
-uint8 SOURCE_AS_BETA_ONLY = 1	# wind estimate from airspeed selector, only based on synthetic sideslip fusion
-uint8 SOURCE_AS_SENSOR_1 = 2	# combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
-uint8 SOURCE_AS_SENSOR_2 = 3	# combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
-uint8 SOURCE_AS_SENSOR_3 = 4	# combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
+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)

msg/tools/uorb_rtps_message_ids.yaml

@@ -225,7 +225,7 @@ rtps:
     receive: true
   - msg: vtol_vehicle_status
     id: 105
-  - msg: wind_estimate
+  - msg: wind
     id: 106
   - msg: collision_constraints
     id: 107
@@ -329,6 +329,8 @@ rtps:
     id: 156
   - msg: gimbal_manager_set_manual_control
     id: 157
+  - msg: airspeed_wind
+    id: 158
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170
@@ -431,4 +433,7 @@ rtps:
   - msg: actuator_controls_5
     id: 202
     alias: actuator_controls
+  - msg: estimator_wind
+    id: 203
+    alias: wind
   ########## multi topics: end ##########

msg/wind.msg

@@ -0,0 +1,16 @@
+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 beta_innov 		# Sideslip measurement innovation
+float32 beta_innov_var 		# Sideslip measurement innovation variance
+
+# TOPICS wind estimator_wind