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48 lines
2.7 KiB
Markdown
48 lines
2.7 KiB
Markdown
# Sensor Hardware & Setup
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This section describes the mandatory and optional sensors and their setup/configuration.
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## 综述
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PX4-based systems use sensors to estimate vehicle state, which is needed for stabilization and to enable autonomous control.
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Vehicle state information includes: position/altitude, heading, speed, airspeed, orientation (attitude), rates of rotation in different directions, battery level, and so on.
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PX4 _minimally requires_ a gyroscope, accelerometer, magnetometer (compass), and barometer to measure the above states.
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Fixed-wing and VTOL-vehicles _should_ also include an airspeed sensor.
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A GPS or other positioning system is needed to enable all automatic modes, and some manual/assisted modes.
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[Pixhawk Series](../flight_controller/pixhawk_series.md) flight controllers already have the minimum set of sensors (other controller platforms often do too).
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Additional/external sensors can be attached to the controller — an external GPS and compass are recommended, along with an airspeed sensor for VTOL and Fixed wing vehicles.
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## Sensor Topics
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Mandatory (included in Pixhawk series FCs):
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- [Accelerometer](../sensor/accelerometer.md) — Measures changing acceleration.
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- [Gyroscope](../sensor/gyroscope.md) — Measures orientation.
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- [Magnetometer (Compass)](../gps_compass/magnetometer.md) — Measures heading/direction.
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External compass recommended!
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- [Barometers](../sensor/barometer.md) — Measures altitude (via air pressure).
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Recommended:
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- [Airspeed Sensors](../sensor/airspeed.md) — Measures airspeed.
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Highly recommended for VTOL and Fixed-wing as they are the only mechanism to detect stall.
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- [GNSS (GPS)](../gps_compass/index.md) — Measures global position.
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Needed for missions, and some other automatic and manual/assisted modes.
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- [RTK GNSS (GPS)](../gps_compass/rtk_gps.md) — GNSS with centimetre-level accuracy.
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Some setups also allow heading to be determine from GNSS rather than a magnetometer.
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Optional:
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- [Distance Sensors (Rangefinders)](../sensor/rangefinders.md) — Measures distance to target.
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Aids landing, object avoidance, and terrain following.
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- [Optical Flow](../sensor/optical_flow.md) — Estimates velocity using a downward facing camera and a downward facing distance sensor.
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Enables a more accurate position lock than GPS alone, and can be used indoors when no GPS signal is available.
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- [Tachometers (Revolution Counters)](../sensor/tachometers.md) — Only used for logging.
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Other optional:
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- [IMU/Compass Factory Calibration](../advanced_config/imu_factory_calibration.md) — Save calibration settings to persistent storage.
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- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md) — Compensate sensors for temperature variations.
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