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# Estimating wind using a quadrotor
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# Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines. Estimating wind using a quadrotor. International Journal of Micro Air Vehicles, SAGE, 2022, 14, ⟨10.1177/17568293211070824⟩. ⟨hal-03524845⟩
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# All flights were performed using the Paparazzi UAV system (https://paparazziuav.org)

# Available data and scaling (multiply data by scaling to have SI units)
#
roll angle, ROTORCRAFT_FP:phi, (1/2^12)
pitch angle, ROTORCRAFT_FP:theta, (1/2^12)
yaw angle, ROTORCRAFT_FP:psi, (1/2^12)
north velocity, INS:xd, (1/2^19)
east velocity, INS:yd, (1/2^19)
down velocity, INS:Zd, (1/2^19)
north velocity, ROTORCRAFT_FP:vnorth, (1/2^19)
east velocity, ROTORCRAFT_FP:veast, (1/2^19)
north position, ROTORCRAFT_FP:north, (1/2^8)
east position, ROTORCRAFT_FP:east, (1/2^8)
airspeed norm, WIND_INFO_RET:airspeed, SI unit
north wind velocity, WIND_INFO_RET:north, SI unit
east wind velocity, WIND_INFO_RET:east, SI unit
kalman state vector, PAYLOAD_FLOAT:values, SI units

#
# Calibration data
#
Each calibration file contains 2 full turns around the yaw axis of the quadrotor in front of
the wind generator, at different speeds (calibration with reference speed from hotwire airspeed
sensor)


file calib_1_21.04.26.csv
turn 1
    - start 3537
    - stop 4025
    - wind 0% 0m/s
turn 2
    - start 4100
    - stop 4600
    - wind 20% 2.98m/s

file calib_2_21.04.26.csv
turn 1
    - start 687
    - stop 1212
    - wind 40% 5.5m/s
turn 2
    - start 1356
    - stop 1852
    - wind 60% 7.71m/s

file calib_3_21.04.26.csv
turn 1
    - start 2325
    - stop 2831
    - wind 30% 4.15m/s
turn 2
    - start 2988
    - stop 3550
    - wind 50% 6.57m/s


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# Outdoor flight tests
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file outdoor_1_21.05.20.csv
    - start 1440
    - stop 2800
    - time 09:13
    - trajectory: horizontal square

file outdoor_2_21.05.20.csv
    - start 950
    - stop 2520
    - time 09:51
    - trajectory: vertical profil


#
# Indoor flight with onboard estimation of the wind
#

file indoor_embedded_21.11.26.csv
    - start 3100
    - stop 6350
    - wind speed at 3 m from generator: 3.8 m/s
    - wind speed at 7 m from generator: 2.8 m/s
    - wind direction: negative x axis (from "north" to "south")
    - wind profile:
	- [start:4000]: wind 0 m/s, 3 m from wind generator
	- [4000:4966]: wind 3.8 m/s, 3 m from wind generator
	- [4966:5242]: wind 2.8 m/s, 7 m from wind generator
	- [5242:5511]: wind 3.8 m/s, 3 m from wind generator
	- [5511:stop]: wind 0 m/s, 3 m from wind generator