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docs/en/features_fw/wind_estimator_3d.md
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# 3D Wind Estimator
<Badge type="warning" text="Experimental" />
<Badge type="tip" text="main (PX4 v1.19)" /> <Badge type="warning" text="Experimental" />
`wind_estimator_3d` is a fixed-wing module that estimates the full 3D wind vector (including the vertical/updraft component) from a simple aerodynamic model of the airframe, combined with attitude, acceleration, GNSS-derived local velocity, and airspeed measurements.
[`wind_estimator_3d`](../modules/modules_estimator.md#wind-estimator-3d) is a fixed-wing module that estimates the full 3D wind vector (including the vertical/updraft component) from a simple aerodynamic model of the airframe, combined with attitude, acceleration, GNSS-derived local velocity, and airspeed measurements.
This is different from PX4's default wind estimate: the [wind](../msg_docs/Wind.md) uORB topic published by [EKF2](../advanced_config/tuning_the_ecl_ekf.md) (and used throughout PX4, e.g. by the airspeed validation checks, `MAVLink WIND_COV`, and health checks) only estimates the horizontal wind components. `wind_estimator_3d` instead publishes body-relative airflow and the full 3D wind estimate on the separate [airflow](../msg_docs/Airflow.md) topic.
The module publishes body-relative airflow and the full 3D wind estimate on the [airflow](../msg_docs/Airflow.md) topic.
::: tip
This is different and completely separate from PX4's default wind estimate: the [wind](../msg_docs/Wind.md) uORB topic published by [EKF2](../advanced_config/tuning_the_ecl_ekf.md).
That topic is used throughout PX4, e.g. by the airspeed validation checks, `MAVLink WIND_COV`, and health checks.
Unlike this module, it only estimates the horizontal wind components.
:::
## When to Use It
Most fixed-wing users do not need this module: PX4's standard horizontal wind estimate (from EKF2) and airspeed handling already cover normal flight.
`wind_estimator_3d` is useful when the vertical wind component itself is of interest, for example autonomous updraft-seeking/dynamic-soaring flight, or research into fixed-wing wind estimation. The estimator formulation is described in:
`wind_estimator_3d` is useful when the vertical wind component itself is of interest, for example autonomous updraft-seeking/dynamic-soaring flight, or research into fixed-wing wind estimation.
- Harms, M., Lim, J., Rohr, D., Rockenbauer, F., Lawrance, N. and Siegwart, R., 2025. _Robust Optimization-based Autonomous Dynamic Soaring with a Fixed-Wing UAV_. arXiv preprint arXiv:2512.06610.
The estimator formulation is described in:
## Usage
> Harms, M., Lim, J., Rohr, D., Rockenbauer, F., Lawrance, N. and Siegwart, R., 2025. _Robust Optimization-based Autonomous Dynamic Soaring with a Fixed-Wing UAV_. arXiv preprint arXiv:2512.06610.
`wind_estimator_3d` is disabled by default and is not included in stock firmware for real vehicles (it is only enabled in the SITL default configuration). To use it on hardware you need a custom build:
## PX4 Configuration
1. Enable the module for your target, either by adding `CONFIG_MODULES_WIND_ESTIMATOR_3D=y` to the board's `.px4board` file, or interactively:
### Firmware Setup
`wind_estimator_3d` is disabled by default and is not included in stock firmware for real vehicles (it is only enabled by default in SITL).
To use it on hardware you need a custom build:
1. Update the [board configuration](../hardware/porting_guide_config.md) to include the module.
You can do this by adding `CONFIG_MODULES_WIND_ESTIMATOR_3D=y` to the board's `.px4board` file.
Alternatively, start the menu configuration (as shown below) and then enable `wind_estimator_3d` in the module list:
```sh
make px4_fmu-v6x_default boardconfig
```
and enabling `wind_estimator_3d` in the module list.
2. Rebuild and flash the firmware (see [Building the Code](../dev_setup/building_px4.md)).
Once included, the module starts automatically with the other fixed-wing apps (`rc.fw_apps`) — there is no separate enable parameter.
2. Rebuild and flash the firmware (see [Building the Code](../dev_setup/building_px4.md)). Once included, the module starts automatically with the other fixed-wing apps (`rc.fw_apps`) — there is no separate enable parameter.
Because it publishes to the `airflow` topic rather than `wind`, `wind_estimator_3d` does not feed into (or interfere with) any existing consumer of the system-wide wind estimate (EKF2, airspeed validation, failsafes, MAVLink). Nothing needs to be disabled to run it alongside the default 2D wind estimate.
Note that nothing needs to be disabled to run the `wind_estimator_3d` module alongside the default 2D wind estimates.
This is because it publishes to the `airflow` topic rather than `wind`, and does not feed into (or interfere with) any existing consumer of the system-wide wind estimate (EKF2, airspeed validation, failsafes, MAVLink).
::: info
The `airflow` topic is logged by default, and in Gazebo simulation the equivalent ground-truth airflow is published on `airflow_groundtruth`. This means the estimator's output can be validated against ground truth directly from a SITL flight log, even before tuning it for a specific real airframe.
The `airflow` topic is logged by default, and in Gazebo simulation the equivalent ground-truth airflow is published on `airflow_groundtruth`.
This means the estimator's output can be validated against ground truth directly from a SITL flight log, even before tuning it for a specific real airframe.
:::
## Tuning
### Tuning
The aerodynamic model requires the following airframe-specific parameters:
@@ -45,5 +60,6 @@ The aerodynamic model requires the following airframe-specific parameters:
- [FW_W_CL_A](../advanced_config/parameter_reference.md#FW_W_CL_A): Lift coefficient (angle of attack)
::: warning
PX4 does not currently provide an automated identification/calibration pipeline to derive these coefficients for a given airframe. They must be obtained externally (for example from wind-tunnel testing, CFD, or manual system identification) and entered by hand.
PX4 does not currently provide an automated identification/calibration pipeline to derive these coefficients for a given airframe.
They must be obtained externally (for example from wind-tunnel testing, CFD, or manual system identification) and entered by hand.
:::