PX4-Autopilot/docs/ko/sensor/airspeed.md

풍속 센서

Airspeed sensors are highly recommended for fixed-wing and VTOL frames. They are so important because the autopilot does not have other means to detect stall. For fixed-wing flight it is the airspeed that guarantees lift — not ground speed!

하드웨어 옵션

권장 디지털 속도 센서는 다음과 같습니다.

• Based on Pitot tube
  • MEAS Spec series (e.g. MS4525DO, MS5525)
    • mRo I2C Airspeed Sensor JST-GH MS4525DO (mRo store)
    • Digital Differential Airspeed Sensor Kit (Drotek).
  • Holybro Digital Air Speed Sensor - MS4525DO
  • Holybro Digital Air Speed Sensor - MS5525DSO
  • Holybro High Precision DroneCAN Airspeed Sensor - DLVR
  • RaccoonLab Cyphal/CAN and DroneCAN Airspeed Sensor
  • Sensirion SDP3x Airspeed Sensor Kit
• Based on Venturi effect
  • TFSLOT Venturi effect airspeed sensor.

위의 센서들은 I2C 버스/포트를 통해 연결됩니다.

::: info

Additionally, the Avionics Anonymous Air Data Computer 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.

:::

설정

Enable Airspeed Sensors

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

• Sensirion SDP3X: SENS_EN_SDP3X
• TE MS4525: SENS_EN_MS4525DO
• TE MS5525: SENS_EN_MS5525DS
• Eagle Tree airspeed sensor: SENS_EN_ETSASPD

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

Multiple Airspeed Sensors

:::warning 실험 Using multiple airspeed sensors is experimental. :::

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:

• 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) and the controllers.

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:

• Sensirion SDP3X: CAL_AIR_CMODEL (provides overview of required settings), CAL_AIR_TUBED_MM, CAL_AIR_TUBELEN.

Calibration

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

See Also

• Using PX4's Navigation Filter (EKF2) > Airspeed
• Airspeed drivers (source code)
• VTOL Without an Airspeed Sensor