wind_estimate message: add identifier for source

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/wind_estimate.msg

@@ -13,3 +13,11 @@ float32 tas_scale 		# Estimated true airspeed scale factor
 
 float32 beta_innov 		# Sideslip measurement innovation
 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)

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -486,6 +486,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
 	_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();
 	_wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var();
 	_wind_estimate_sideslip.tas_scale = _wind_estimator_sideslip.get_tas_scale();
+	_wind_estimate_sideslip.source = wind_estimate_s::SOURCE_AS_BETA_ONLY;
 }
 
 void AirspeedModule::update_ground_minus_wind_airspeed()
@@ -593,6 +594,17 @@ void AirspeedModule::select_airspeed_and_publish()
 	/* publish the wind estimator states from all airspeed validators */
 	for (int i = 0; i < _number_of_airspeed_sensors; i++) {
 		wind_estimate_s wind_est = _airspeed_validator[i].get_wind_estimator_states(_time_now_usec);
+
+		if (i == 0) {
+			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_1;
+
+		} else if (i == 1) {
+			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_2;
+
+		} else {
+			wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_3;
+		}
+
 		_wind_est_pub[i + 1].publish(wind_est);
 	}
 

src/modules/ekf2/EKF2.cpp

@@ -1028,6 +1028,7 @@ void EKF2::PublishWindEstimate(const hrt_abstime &timestamp)
 		wind_estimate.variance_east = wind_vel_var(1);
 		wind_estimate.tas_scale = 0.0f; //leave at 0 as scale is not estimated in ekf
 		wind_estimate.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
+		wind_estimate.source = wind_estimate_s::SOURCE_EKF;
 
 		_wind_pub.publish(wind_estimate);
 	}