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?
Thanks for your help