mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
205 lines
14 KiB
Markdown
205 lines
14 KiB
Markdown
# PMW3901 기반 유량 센서
|
|
|
|
PMW3901 is an [optical flow](../sensor/optical_flow.md) ASIC that computes the flow internally and provides a difference in pixels between each frame.
|
|
컴퓨터 마우스와 유사한 추적 센서를 사용하지만 80mm에서 무한대 사이에서 작동하도록 조정되었습니다.
|
|
PMW3901은 Bitcraze, Tindie, Hex, Thone 및 Alientek의 일부 제품을 포함하여 여러 제품에 사용됩니다.
|
|
|
|
|
|
|
|
장착 방법, PX4 설정 방법과 테스트 센서에 대한 링크를 제공합니다 (이 유형의 모든 센서에 공통임).
|
|
|
|
## PMW3901을 사용하는 보드
|
|
|
|
다음 표는이 센서를 사용하는 일부 보드를 보여 주며, 인터페이스 수, 센서 수, 입력 전압 및 크기를 나열합니다.
|
|
보드 이름은 배선 및 구매 정보가 포함된 보드 별 섹션으로 연결됩니다.
|
|
|
|
| 제조사 | 보드 | 인터페이스 | 흐름 | 거리 측정기 | 자이로 | 전압 (V) | 크기 (mm) | 최대 높이 (m) |
|
|
| -------- | --------------------------------------------------------------------------------- | ----- | -- | ------ | --- | ----------------------------------------- | ----------------------------------------- | ---------------------------- |
|
|
| Bitcraze | [Flow breakout](#bitcraze-flow-breakout) | SPI | Y | Y | - | 3 - 5 | 21x20 | 1 |
|
|
| Tindie | [PMW3901 Optical Flow Sensor](#tindie-pmw3901-optical-flow-sensor) | SPI | Y | - | - | 3 - 5 | AxB | - |
|
|
| Hex | [HereFlow PMW3901 Optical Flow Sensor](#hex-hereflow-pmw3901-optical-flow-sensor) | CAN | Y | Y | Y | 3 - 5 | AxB | 4 |
|
|
| Holybro | [Holybro PMW3901 Optical Flow Sensor](#holybro-pmw3901-optical-flow-sensor) | UART | Y | - | - | 3 - 5 | AxB | - |
|
|
| Thone | [ThoneFlow-3901U](#thone-thoneflow-3901u) | UART | Y | - | - | 3 - 5 | AxB | - |
|
|
| Alientek | [ATK-PMW3901](#alientek-atk-pmw3901) | SPI | Y | - | - | 3.3 - 4.2 | 27.5x16.5 | 1 |
|
|
|
|
## 외부 거리계
|
|
|
|
An external rangefinder/distance sensor is _required_ for the sensors that don't have a rangefinder (e.g. _Tindie_ or _Thone_) and _recommended_ for the other boards (as their range is quite limited).
|
|
|
|
필요한 범위는 애플리케이션에 따라 다릅니다.
|
|
|
|
- 실내 비행 : ≈4m
|
|
- 실외 비행 : ≥10 미터 (예 : GPS에 문제가 있을 수 있는 환경에서 위치 제어를 지원)
|
|
|
|
Any [rangefinder/distance sensor](../sensor/rangefinders.md) supported by PX4 may be used.
|
|
센서는 어디나 장착할 수 있지만, 아래를 향해야하며 평소와 같이 연결/설정하여야 합니다.
|
|
|
|
:::tip
|
|
The PX4 team mainly tested using the [Lidar Lite V3](../sensor/lidar_lite.md) on larger vehicles and the [Lanbao CM8JL65](../sensor/cm8jl65_ir_distance_sensor.md) (Discontinued) on smaller vehicles.
|
|
:::
|
|
|
|
## 장착 및 방향
|
|
|
|
흐름 모듈은 일반적으로 차량 중앙 근처에 장착됩니다.
|
|
If mounted off-centre you will need to set offsets: [Optical Flow > EKF2](../sensor/optical_flow.md#ekf2).
|
|
|
|
The flow modules may be mounted with any yaw orientation relative to the vehicle body frame, but you must set the value used in [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT).
|
|
|
|
The "zero" rotation is when the sensor board and [vehicle](../getting_started/px4_basic_concepts.md#heading-and-directions) X-axes are aligned (i.e. the "front" of the vehicle and the board are in the same direction), with rotations increasing in a clockwise direction.
|
|
|
|
PMW3901 modules have a small notch indicating the direction of the **back** of the board.
|
|
The diagram shows the relative board and vehicle orientations that correspond to `SENS_FLOW_ROT=0` (note the notch at the back).
|
|
|
|
|
|
|
|
위의 다이어그램은 Bitcraze 보드입니다.
|
|
노치를 사용하여 같은 방법으로 다른 보드의 방향을 찾을 수 있습니다.
|
|
|
|
| | |
|
|
| ---------------------------------------------------- | ----------------------------------------------------------------------------------------------- |
|
|
| Tindie<br>![PMW3901 Tindie Notch][tindie_notch] | Hex Hereflow<br>![PMW3901 Hereflow Notch][hereflow_notch] |
|
|
| Thone<br>![PMW3901 Thoneflow Notch][thoneflow_notch] | Alientek (also has an arrow indicating the front!)<br>![PMW3901 Alientek Notch][alientek_notch] |
|
|
|
|
[tindie_notch]: ../../assets/hardware/sensors/pmw3901/tindie_notch.jpg
|
|
[thoneflow_notch]: ../../assets/hardware/sensors/pmw3901/thoneflow_3901u_notch.jpg
|
|
[alientek_notch]: ../../assets/hardware/sensors/pmw3901/alientek_pmw3901_notch.jpg
|
|
[hereflow_notch]: ../../assets/hardware/sensors/pmw3901/hex_hereflow_notch.jpg
|
|
|
|
## PX4 설정
|
|
|
|
모든 PMW3901 기반 보드에 공통적인 PX4 설정:
|
|
|
|
- [Optical Flow > EKF2](../sensor/optical_flow.md#ekf2) explains how to fuse optical flow data in the EKF2 estimator and set position offsets for the mounting position of the flow sensor.
|
|
- [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT) sets the orientation of the flow sensor relative to vehicle heading.
|
|
|
|
추가:
|
|
|
|
- SPI-connected sensors you must set [SENS_EN_PMW3901](../advanced_config/parameter_reference.md#SENS_EN_PMW3901) to `1` in order to enable the sensor driver.
|
|
- UART-connected sensors (e.g. ThoneFlow-3901UY) you must [configure the associated serial port](../peripherals/serial_configuration.md) by setting the parameter [SENS_TFLOW_CFG](../advanced_config/parameter_reference.md#SENS_TFLOW_CFG) to the value of the connected UART port (for example, if you connected this sensor to `TELEM 2`, you need to set `SENS_TFLOW_CFG` to `102`).
|
|
- DroneCAN sensors you must set `UAVCAN_ENABLE` appropriately.
|
|
For more information see [DroneCAN Peripherals](../dronecan/index.md) (and the [HereFlow PMW3901 docs below](#dronecan_wiring)).
|
|
|
|
개별 유량 센서는 아래 섹션에 설명대로 추가로 설정됩니다.
|
|
|
|
## Bitcraze Flow Breakout
|
|
|
|
The [Bitcraze Flow breakout](https://www.bitcraze.io/products/flow-breakout/) directly exposes the [SPI interface](#spi-wiring) from the PMW3901 module.
|
|
|
|
The board also incorporates a distance sensor [wired to the Pixhawk I2C port](#i2c-wiring).
|
|
이 거리 센서는 STMicroelectronics의 VL53L0x ToF 센서입니다.
|
|
센서 범위는 최소 (2m)이며 햇빛 아래에서 비행시 줄어듭니다.
|
|
We therefore highly recommend that you use an [external distance sensor](#external-rangefinders).
|
|
|
|
|
|
|
|
[PX4 configuration](#px4-configuration) and [mounting/orientation](#mounting-orientation) instructions are provided above.
|
|
|
|
### SPI 배선
|
|
|
|
PMW3901은 Pixhawk 4의 SPI 포트에 연결된 경우 Bitcraze 흐름 모듈을 자동으로 감지합니다.
|
|
이 장치의 드라이버는 칩 선택 1을 사용하여 SPI 포트에 연결되도록 명시적으로 작성되었습니다.
|
|
No parameters will have to be configured other than the [orientation and position of the sensor](#mounting-orientation).
|
|
|
|
Pixhawk SPI 포트와 Bitcraze Flow Board의 핀아웃 매핑은 아래에 나와 있습니다 (포트 매핑은 모든 Pixhawk FMU 버전과 동일합니다).
|
|
|
|
| Pixhawk SPI 포트 (왼쪽에서 오른쪽으로) | Bitcraze 플로우 보드 |
|
|
| ---------------------------------------------- | --------------- |
|
|
| 1 (VCC) | VCC |
|
|
| 2 (SCK) | CLK |
|
|
| 3 (MISO) | MISO |
|
|
| 4 (MOSI) | MOSI |
|
|
| 5 (CS1) | CS |
|
|
| 6 (CS2) | 연결하지 마십시오 |
|
|
| 7 (GND) | GND |
|
|
|
|
Bitcraze 플로우 보드를 Pixhawk에 연결하려면 Pixhawk SPI 케이블의 와이어를 플로우 보드에 납땜하여야 합니다.
|
|
SPI 케이블에는 7개의 와이어가 있으며, 6개를 플로우 보드에 연결하여야합니다.
|
|
|
|
아래의 다이어그램은 센서를 Pixhawk 4에 연결하는 방법을 보여줍니다.
|
|
|
|
|
|
|
|
### I2C 배선
|
|
|
|
I2C 배선은 다른 거리 센서에 대해서도 동일합니다.
|
|
SLA, SLC, GND 및 VCC를 Pixhawk 콘트롤러와 센서의 해당 (동일한) 핀에 연결하면 됩니다.
|
|
|
|
## Tindie PMW3901 광류 센서
|
|
|
|
The Tindie [PMW3901 Optical Flow Sensor](https://www.tindie.com/products/onehorse/pmw3901-optical-flow-sensor/) exposes the SPI interface from the PMW3901 module exactly as on the Bitcraze module (see [SPI Wiring](#spi-wiring)).
|
|
|
|
|
|
|
|
The sensor doesn't have a distance sensor onboard, so you will need to use an [external distance sensor](#external-rangefinders).
|
|
|
|
[PX4 configuration](#px4-configuration) and [mounting/orientation](#mounting-orientation) instructions are provided above.
|
|
|
|
## AlienTek ATK-PMW3901
|
|
|
|
The AlienTek [ATK-PMW3901](https://www.aliexpress.com/i/32979605707.html) exposes the SPI interface from the PMW3901 module in the same way as the Bitcraze module (see [SPI Wiring](#spi-wiring)).
|
|
|
|
|
|
|
|
The board also incorporates a distance sensor (we recommend that you use an [external distance sensor](#external-rangefinders)).
|
|
You can wire the internal sensor to the Pixhawk I2C port [in the same way as any other I2C peripheral.](#i2c-wiring)
|
|
A screenshot showing the I2C pins (SLA, SLC, GND, and VCC) is provided below.
|
|
|
|
|
|
|
|
[PX4 configuration](#px4-configuration) and [mounting/orientation](#mounting-orientation) instructions are provided above.
|
|
|
|
## Hex HereFlow PMW3901 광류 센서
|
|
|
|
The Hex [HereFlow PMW3901 Optical Flow Sensor](https://docs.cubepilot.org/user-guides/flow-senor/here-flow) is a tiny board containing the PMW3901 flow module, VL53L1X distance sensor, and an IMU (used to synchronize the flow data with the gyro data).
|
|
|
|
An onboard microcontroller samples the three sensors and publishes two DroneCAN messages containing all the information needed for the flow and distance sensor calculations.
|
|
|
|
The board can be connected to any CAN port on any Pixhawk board (see [DroneCAN wiring](#dronecan_wiring)).
|
|
|
|
As for the other optical flow boards, we recommend that you use an [external distance sensor](#external-rangefinders).
|
|
|
|
[PX4 configuration](#px4-configuration) and [mounting/orientation](#mounting-orientation) instructions are provided above.
|
|
|
|
### DroneCAN Wiring/Setup {#dronecan_wiring}
|
|
|
|
아래의 다이어그램은 센서를 Pixhawk 4 CAN 버스에 연결하는 방법을 보여줍니다.
|
|
|
|
|
|
|
|
In addition to any other configuration, you will need to set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to either 2 or 3, depending on your system:
|
|
|
|
- `UAVCAN_ENABLE=2`: DroneCAN sensors but no motor controllers.
|
|
- `UAVCAN_ENABLE=3`: DroneCAN sensors and motor controllers.
|
|
|
|
For general information about DroneCAN wiring and configuration see: [DroneCAN Peripherals](../dronecan/index.md).
|
|
|
|
## Holybro PMW3901 Optical Flow Sensor
|
|
|
|
The [Holybro PMW3901 Optical Flow Sensor](https://holybro.com/products/pmw3901-optical-flow-sensor) exposes a PMW3901 optical flow module via a UART interface.
|
|
|
|
The board doesn't include a distance sensor onboard, so you will need to use an [external distance sensor](#external-rangefinders).
|
|
|
|
<img src="../../assets/hardware/sensors/pmw3901/holybro-pmw3901-1.jpg" width="350px" title="HB-pmw3901-1" />
|
|
<img src="../../assets/hardware/sensors/pmw3901/holybro-pmw3901-2.jpg" width="350px" title="HB-pmw3901-2" />
|
|
|
|
It comes with a 3D printed case and has a pre-soldered TX, Voltage, and GND 4 pin connector that can be plugged into the telemetry port of your flight controller, as shown below (for the Pixhawk 6C).
|
|
|
|
|
|
|
|
## Thone ThoneFlow-3901U
|
|
|
|
The Thone [ThoneFlow-3901U](https://www.seeedstudio.com/ThoneFlow-3901U-UART-Serial-Version-PMW3901-Optical-Flow-Sensor-p-4040.html) exposes a PMW3901 optical flow module via a UART interface.
|
|
|
|
The board doesn't include a distance sensor onboard, so you will need to use an [external distance sensor](#external-rangefinders).
|
|
|
|
|
|
|
|
<!-- note, this will be set using SENS_TFLOW_CFG
|
|
Wiring is also required.
|
|
-->
|
|
|
|
[PX4 configuration](#px4-configuration) and [mounting/orientation](#mounting-orientation) instructions are provided above.
|
|
|
|
In addition, you must also set the parameter [SENS_TFLOW_CFG](../advanced_config/parameter_reference.md#SENS_TFLOW_CFG) to the value of the UART port you connected (e.g. if the sensor is connected to `TELEM 2` then set `SENS_TFLOW_CFG=102`.
|
|
For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
|