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AP_DDS: Provide airspeed for planes #28300
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Airspeed would be great to add to the interface. Airspeed doesn't have a rotational component though, so twist seems overkill and wasteful of data. Did you consider publishing just a |
I like this idea, we could use the three components to publish.
|
Sideslip is only for plane. Why not just XYZ relative to body frame. |
You mean airspeed in body frame? That would work. length of vector is what we call "airspeed", which most of the times will result in only the x component unless you have AOA and sideslip measurements, or they are estimated internally. |
Yea, that's what I meant. |
I can work this out in a PR and we can move ahead from there. |
Well, from inspecting the code it seems pretty easy to obtain the TAS vector:
|
Awesome, at what rate do you think it should be published? |
Here is the PR: #28319 |
I publish it within the same velocity timer, if airspeed is available. |
Airspeed for planes
The DDS interface does not provide the airspeed, which is an essential information for planes (subs?).
Solution
/ap/twist/filtered
topic, with a dedicatedframe_id = "airspeed"
.frame_id
empty for standard Inertial/BodyAlternative
/ap/airspeed/
topic of typestd_msgs/Float32
, as the timestamp might not be crucial.Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ x ] Plane
[ ] Rover
[ ? ] Submarine
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