Fix NED/NEU mismatch in wind estimator Z-axis consumers

src/main/blackbox/blackbox.c

@@ -1488,7 +1488,7 @@ static void loadSlowState(blackboxSlowState_t *slow)
     for (int i = 0; i < XYZ_AXIS_COUNT; i++)
     {
 #ifdef USE_WIND_ESTIMATOR
-        slow->wind[i] = getEstimatedWindSpeed(i);
+        slow->wind[i] = getEstimatedWindSpeed(i);  // raw; Z is NEU
 #else
         slow->wind[i] = 0;
 #endif

src/main/flight/rth_estimator.c

@@ -153,7 +153,7 @@ static float calculateRemainingEnergyBeforeRTH(bool takeWindIntoAccount) {
     uint16_t windHeading = 0; // centidegrees
     const float horizontalWindSpeed = takeWindIntoAccount ? getEstimatedHorizontalWindSpeed(&windHeading) / 100 : 0; // m/s
     const float windHeadingDegrees = CENTIDEGREES_TO_DEGREES((float)windHeading);
-    const float verticalWindSpeed = -getEstimatedWindSpeed(Z) / 100; //from NED to NEU
+    const float verticalWindSpeed = getEstimatedWindSpeed(Z) / 100; // NEU
 
     const float RTH_distance = estimateRTHDistanceAndHeadingAfterAltitudeChange(RTH_initial_altitude_change, horizontalWindSpeed, windHeadingDegrees, verticalWindSpeed, &RTH_heading);
     const float RTH_speed = windCompensatedForwardSpeed((float)navConfig()->fw.cruise_speed / 100, RTH_heading, horizontalWindSpeed, windHeadingDegrees);

src/main/flight/wind_estimator.c

@@ -49,7 +49,7 @@
 #define WINDESTIMATOR_SPIKE_FILTER_ADJ_FACTOR   50       // good for wind speeds up to 30 m/s
 
 static bool hasValidWindEstimate = false;
-static float estimatedWind[XYZ_AXIS_COUNT] = {0, 0, 0};    // wind velocity vectors in cm / sec in earth frame
+static float estimatedWind[XYZ_AXIS_COUNT] = {0, 0, 0};    // wind velocity vectors in cm / sec in earth frame (Z: NEU)
 static float lastGroundVelocity[XYZ_AXIS_COUNT];
 static float lastFuselageDirection[XYZ_AXIS_COUNT];
 
@@ -133,12 +133,12 @@ void updateWindEstimator(timeMs_t currentTimeMs)
     // Get current 3D velocity from GPS in cm/s relative to earth frame
     groundVelocity[X] = posEstimator.gps.vel.x;
     groundVelocity[Y] = posEstimator.gps.vel.y;
-    groundVelocity[Z] = posEstimator.gps.vel.z;
+    groundVelocity[Z] = posEstimator.gps.vel.z;  // NEU
 
     // Fuselage direction in earth frame (radians)
     fuselageDirection[X] = HeadVecEFFiltered.x;
     fuselageDirection[Y] = -HeadVecEFFiltered.y;
-    fuselageDirection[Z] = HeadVecEFFiltered.z;
+    fuselageDirection[Z] = HeadVecEFFiltered.z;  // NED
 
     // scrap our data and start over if we're taking too long (> 10s) to get a direction change
     if (MS2S(currentTimeMs - lastUseableAttitudeUpdateMs) > 10 || lastUseableAttitudeUpdateMs == 0) {
@@ -188,7 +188,7 @@ void updateWindEstimator(timeMs_t currentTimeMs)
         float wind[XYZ_AXIS_COUNT];
         wind[X] = (groundVelocitySum[X] - V * (costheta * fuselageDirectionSum[X] - sintheta * fuselageDirectionSum[Y])) * 0.5f;    // equation 10
         wind[Y] = (groundVelocitySum[Y] - V * (sintheta * fuselageDirectionSum[X] + costheta * fuselageDirectionSum[Y])) * 0.5f;    // equation 11
-        wind[Z] = (groundVelocitySum[Z] - V * fuselageDirectionSum[Z]) * 0.5f;  // equation 12
+        wind[Z] = (groundVelocitySum[Z] - V * fuselageDirectionSum[Z]) * 0.5f;  // equation 12, NEU
 
         /* Spike filter used to filter out large spikes that can occur in the raw wind calcs.
          * Filter is based on a threshold between new wind updates and current estimated wind.

src/main/flight/wind_estimator.h

@@ -27,6 +27,7 @@
 
 bool isEstimatedWindSpeedValid(void);
 // wind velocity vectors in cm / sec relative to the earth frame
+// X/Y (N/E) are convention-independent; Z axis is NEU (positive = updraft)
 float getEstimatedWindSpeed(int axis);
 // Returns the horizontal wind velocity as a magnitude in cm/s and,
 // optionally, its heading in EF in 0.01deg ([0, 360*100)).

src/main/io/osd.c

@@ -3765,7 +3765,7 @@ static bool osdDrawSingleElement(uint8_t item)
             buff[1] = SYM_BLANK;
             bool valid = isEstimatedWindSpeedValid();
             float verticalWindSpeed;
-            verticalWindSpeed = -getEstimatedWindSpeed(Z);  //from NED to NEU
+            verticalWindSpeed = getEstimatedWindSpeed(Z);  // NEU
             if (verticalWindSpeed < 0) {
                 buff[1] = SYM_AH_DECORATION_DOWN;
                 verticalWindSpeed = -verticalWindSpeed;

src/main/sensors/pitotmeter.c

@@ -335,6 +335,7 @@ static float getWindEstimatedVirtualAirspeed(void)
         fpVector3_t windCorrectedVel;
 
         // Correct nav velocities with estimated wind velocities in earth frame
+        // Z: posControl.actualState.abs.vel.z and getEstimatedWindSpeed(Z) are both NEU
         for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
             windCorrectedVel.v[axis] = posControl.actualState.abs.vel.v[axis] - getEstimatedWindSpeed(axis);
         }