Select wind estimate in mavros

Hi everyone,

How do i select which mavlink topic is published in mavros? What do the three wind speed estimates correspond to?

I am running:

  • PX4 v1.11.0-beta2
  • SITL Gazebo simulation as described here
  • start the simulation with the plane model as roslaunch px4 mavros_posix_sitl.launch vehicle:=plane
  • Wind speed set to 10m/s in north direction.

Here, i took off, flew straight for a while and then looked at the wind estimates in the ULog (see plot below). What i see is that there are suddenly 3 windspeed estimate topics in this version (v1.11.0-beta2) while in v1.10.2 there was only one. I see that two seem to be estimating the windspeed well (10m/s), while one is basically 0. When i look into mavros i see only one topic: /mavros/wind_estimation, which carries the same data as the green curve (the one estimating 0 wind velocity). I suspect that it is connected to this commit, where the wind effects were updated.

So my question is, can I somehow select one of the other signals and where do i set that? What do these three signals correspond to?

The ULog and ROSbag file can be found here. The PX4 review of the ULog is here.

Thanks for your help

Does anybody have an idea how to solve this? Thanks for your help!

I am still stuck with this. Does anybody have a hint?