# 空速传感器

Airspeed sensors are highly recommended for fixed-wing and VTOL frames. 它们非常重要,因为自驾仪没有其他方法来检测失速。 对于固定翼飞行来说,保证升力的是空速而不是地速。

数字空速传感器

# Hardware Options

Recommended digital airspeed sensors include:

All the above sensors are connected via the I2C bus/port.

注解

Additionally, the Avionics Anonymous Air Data Computer (opens new window) can be connected to the CAN bus to determine not only high-accuracy airspeed, but also true static pressure and air temperature via onboard barometer and an OAT probe.

# 配置

# Enable Airspeed Sensors

Airspeed sensor drivers are not started automatically. Enable each type using its corresponding parameter:

You should also check ASPD_PRIMARY is 1 (see next section - this is the default).

# Multiple Airspeed Sensors

If you have multiple airspeed sensors then you can select which sensor is preferred as the primary source using ASPD_PRIMARY, where 1, 2 and 3 reflect the order in which the airspeed sensors were started:

  • -1: Disabled (no airspeed information used).
  • 0: Synthetic airspeed estimation (groundspeed minus windspeed)
  • 1: First airspeed sensor started (default)
  • 2: Second airspeed sensor started
  • 3: Third airspeed sensor started

The airspeed selector validates the indicated sensor first and only falls back to other sensors if the indicated sensor fails airspeed checks (ASPD_DO_CHECKS is used to configure the checks).

The selected sensor is then used to supply data to the estimator (EKF2). The EKF fuses the airspeed data if it's above EKF2_ARSP_THR and has a low innovation compared to groundspeed minus windspeed.

# Sensor-specific Configuration

Other than enabling the sensor, sensor-specific configuration is often not required. If it is needed, it should be covered in the appropriate sensor page (for example TFSLOT > Configuration).

The specific configuration for sensors that do not have a separate page is listed below:

# Calibration

Airspeed sensors should be calibrated by following the instructions: Basic Configuration > Airspeed.

# 开发人员信息