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47 lines
3.1 KiB
Markdown
47 lines
3.1 KiB
Markdown
# Barometers
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Barometers measure atmospheric pressure, and are used in drones as altitude sensors.
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Most [flight controllers](../flight_controller/index.md) on which PX4 runs include a barometer.
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By default PX4 will select the barometer with the highest priority (if any are present), and configure it as a data source for [Height estimation](../advanced_config/tuning_the_ecl_ekf.md#height).
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If a sensor fault is detected, PX4 will fall back to the next highest priority sensor.
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Generally barometers require no user configuration (or thought)!
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## 하드웨어 옵션
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[Pixhawk standard](../flight_controller/autopilot_pixhawk_standard.md) flight controllers include a barometer, as do [many others](../flight_controller/index.md).
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They are also present in other hardware:
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- [CUAV NEO 3 Pro GNSS module](https://doc.cuav.net/gps/neo-series-gnss/en/neo-3-pro.html#key-data) ([MS5611](../modules/modules_driver_baro.md#ms5611))
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- [RaccoonLab L1 GNSS NEO-M8N](https://raccoonlab.co/tproduct/360882105-258620719271-cyphal-and-dronecan-gnss-m8n-magnetomete)
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At time of writing, drivers/parts include: bmp280, bmp388 (and BMP380), dps310, goertek (spl06), invensense (icp10100, icp10111, icp101xx, icp201xx), lps22hb, lps25h, lps33hw, maiertek (mpc2520), mpl3115a2, ms5611, ms5837, tcbp001ta.
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Note that the supported barometer part numbers can be inferred from the driver names listed in the [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation (and the driver source: [PX4-Autopilot/src/drivers/barometer](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)).
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## PX4 설정
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Generally barometers require no user configuration.
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If needed, you can:
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- Enable/Disable barometers as data source for [Height estimation](../advanced_config/tuning_the_ecl_ekf.md#height) using the [EKF2_BARO_CTRL](../advanced_config/parameter_reference.md#EKF2_BARO_CTRL) parameter.
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- Change the selection order of barometers using the [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) parameters for each barometer.
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- Disable a barometer by setting its [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) value to `0`.
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## Calibration
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Barometers don't require calibration.
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<!-- Notes:
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- Absolute value isn't important since we just use the difference in altitude between "now" and the value when initializing EKF2
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- There is usually a scale factor error but it's compensated by the GNSS altitude using a bias estimator in EKF2 (we don't provide a way to calibrate that). This method is fine as long as the height change of the drone isn't too fast (below 200-300km/h probably; don't have real data on that).
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- The baro readings can be corrected using a param SENS_BARO_QNH (https://en.wikipedia.org/wiki/Altimeter_setting) parameter, but again, it is only necessary to adjust it if the absolute barometric altitude is required by the pilot.
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-->
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## 개발자 정보
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- [Baro driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)
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- [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation.
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