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83 lines
5.5 KiB
Markdown
83 lines
5.5 KiB
Markdown
# Датчики швидкості польоту
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Airspeed sensors are _highly recommended_ for fixed-wing and VTOL frames.
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Це важливо, туму що автопілот не має інших засобів для виявлення звалювання.
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Так як швидкість польоту літака відносно повітря гарантує підіймальну силу, а не швидкість відносно землі!
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## Варіанти устаткування
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Рекомендовані цифрові сенсори швидкості в повітрі включають:
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- Based on [Pitot tube](https://en.wikipedia.org/wiki/Pitot_tube)
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- MEAS Spec series (e.g. [MS4525DO](https://www.te.com/usa-en/product-CAT-BLPS0002.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
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- [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.mrobotics.io/mRo-I2C-Airspeed-Sensor-JST-GH-p/m10030a.htm) (mRo store)
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- [Digital Differential Airspeed Sensor Kit](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) (Drotek).
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- [Holybro Digital Air Speed Sensor - MS4525DO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms4525do)
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- [Holybro Digital Air Speed Sensor - MS5525DSO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms5525dso)
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- [Holybro High Precision DroneCAN Airspeed Sensor - DLVR](https://holybro.com/collections/sensors/products/high-precision-dronecan-airspeed-sensor-dlvr)
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- [RaccoonLab Cyphal/CAN and DroneCAN Airspeed Sensor](https://raccoonlab.co/tproduct/360882105-652259850171-cyphal-and-dronecan-airspeed-v2)
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- [Sensirion SDP3x Airspeed Sensor Kit](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
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- Based on [Venturi effect](https://en.wikipedia.org/wiki/Venturi_effect)
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- [TFSLOT](airspeed_tfslot.md) Venturi effect airspeed sensor.
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Усі зазначені вище сенсори підключені через I2C bus/port.
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::: info
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Additionally, the [Avionics Anonymous Air Data Computer](https://www.tindie.com/products/avionicsanonymous/uavcan-air-data-computer-airspeed-sensor/) 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.
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:::
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## Налаштування
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### Увімкнення датчиків швидкості у повітрі
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Драйвери датчика швидкості в польоті не запускаються автоматично.
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Enable each type using its [corresponding parameter](../advanced_config/parameters.md):
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- **Sensirion SDP3X:** [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X)
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- **TE MS4525:** [SENS_EN_MS4525DO](../advanced_config/parameter_reference.md#SENS_EN_MS4525DO)
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- **TE MS5525:** [SENS_EN_MS5525DS](../advanced_config/parameter_reference.md#SENS_EN_MS5525DS)
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- **Eagle Tree airspeed sensor:** [SENS_EN_ETSASPD](../advanced_config/parameter_reference.md#SENS_EN_ETSASPD)
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You should also check [ASPD_PRIMARY](../advanced_config/parameter_reference.md#ASPD_PRIMARY) is `1` (see next section - this is the default).
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### Множинні датчики швидкості польоту
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:::warning
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Експериментальні налаштування
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Using multiple airspeed sensors is experimental.
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:::
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If you have multiple airspeed sensors then you can select which sensor is _preferred_ as the primary source using [ASPD_PRIMARY](../advanced_config/parameter_reference.md#ASPD_PRIMARY), where `1`, `2` and `3` reflect the order in which the airspeed sensors were started:
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- `0`: Synthetic airspeed estimation (groundspeed minus windspeed)
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- `1`: First airspeed sensor started (default)
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- `2`: Second airspeed sensor started
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- `3`: Third airspeed sensor started
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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](../advanced_config/parameter_reference.md#ASPD_DO_CHECKS) is used to configure the checks).
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The selected sensor is then used to [supply data to the estimator (EKF2)](../advanced_config/tuning_the_ecl_ekf.md#airspeed) and the controllers.
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### Налаштування датчика
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Крім активації датчика, часто не потрібна конфігурація, специфічна для датчика.
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If it is needed, it should be covered in the appropriate sensor page (for example [TFSLOT > Configuration](airspeed_tfslot.md#configuration)).
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Конкретна конфігурація для датчиків, які не мають окремої сторінки, перерахована нижче:
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- **Sensirion SDP3X:** [CAL_AIR_CMODEL](../advanced_config/parameter_reference.md#CAL_AIR_CMODEL) (provides overview of required settings), [CAL_AIR_TUBED_MM](../advanced_config/parameter_reference.md#CAL_AIR_TUBED_MM), [CAL_AIR_TUBELEN](../advanced_config/parameter_reference.md#CAL_AIR_TUBELEN).
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## Калібрування
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Airspeed sensors should be calibrated by following the instructions: [Basic Configuration > Airspeed](../config/airspeed.md).
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## Дивіться також
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- [Using PX4's Navigation Filter (EKF2) > Airspeed](../advanced_config/tuning_the_ecl_ekf.md#airspeed)
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- [Airspeed drivers](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure) (source code)
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- [VTOL Without an Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
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