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ardupilotmega.xml: Add ardusoar EKF estimate #381

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ardupilotmega.xml: Add ardusoar EKF estimate #381

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8 changes: 8 additions & 0 deletions message_definitions/v1.0/ardupilotmega.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1890,5 +1890,13 @@
<field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
<field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
</message>
<message id="11045" name="ARDUSOAR_EKF_ESTIMATE">
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@Ryanf55 Ryanf55 Jan 18, 2025

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Suggested change
<message id="11045" name="ARDUSOAR_EKF_ESTIMATE">
<message id="11045" name="ARDUSOAR_THERMAL_ESTIMATE">

Like so?

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@peterbarker peterbarker Jan 18, 2025

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Yes. But perhaps we don't need "ARDUSOAR" in the title?

Also, have you evaluated FW_SOARING_DATA for its fitness?

<wip/>
<description>Thermal strength, radius, and location estimate from the ArduSoar algorithm.</description>
<field type="float" name="radius" units="m">Estimated thermal radius</field>
<field type="float" name="strength" units="m/s">Estimated thermal peak lift rate</field>
<field type="float" name="x" units="m">Estimated thermal position, north of home (y)</field>
<field type="float" name="y" units="m">Estimated thermal position, east of home (x)</field>
</message>
</messages>
</mavlink>