ArduPilot User Manual

Enable the airspeed sensor

Run MissionPlanner and enter the 【Config】>【FULL Parameter List】 (Full Parameter List) interface. Set the following parameters, save them, and then restart the flight controller.

Connect to the CAN1 interface of the flight controller
– CAN_P1_DRIVER=1
– CAN_D1_PROTOCOL=1

Connect to the CAN2 interface of the flight controller
– CAN_P2_DRIVER=1
– CAN_D2_PROTOCOL=1

Set the airspeed sensor type to UAVCAN and enable airspeed
– ARSPD_TYPE=8
– ARSPD_USE=1

 

Airspeed zeroing - airspeed offset calibration

When there is no wind, if the airspeed display is greater than 3 m/s, please zero the airspeed before takeoff.

The OneASP L10D has good consistency in a general environment. You can set "ARSPD_SKIP_CAL" to "1" to skip the airspeed zeroing step.

 

Zeroing method

1. Open Mission Planner and connect to the flight controller.
2. Place the airspeed indicator in a windless environment.
3. Open Mission Planner > Flight Data > Action Bar
4. Select "Preflight Calibration" in the first checkbox and click the "Execute Action" button on the right

 

Pre-flight inspection

Before flight, please connect to the ground station and check in a windless condition. Make sure that the airspeed value fluctuates within the range of 0 - 3 m/s (if it is out of this range, please zero the airspeed).

Hold the pitot tube with your hand and blow into it. Check that the airspeed value can change according to the airflow speed. If so, the inspection is completed.

 

Airspeed calibration

The OneASP L10D has good consistency in a general environment. You can set "ARSPD_SKIP_CAL" to "1" to skip the airspeed zeroing step.

 

Enable automatic airspeed calibration
– ARSPD_AUTOCAL=1

• Method 1: Take off in QStabilize or QLoiter mode and then switch to FBWA (Flight by Wire A, self-stabilizing A mode) to control the drone to circle about 5 times. After the ground station message bar prompts that the calibration is completed, land the drone. Set ARSPD_AUTOCAL to 0 after the calibration is finished.
• Method 2: If you are not proficient in flying in FBWA mode, you can fly with the airspeed sensor enabled but not in use (ARSPD_USE = 1; ARSPD_TYPE = 8; do not perform this operation in an environment with strong wind). The aircraft will fly using the ground speed (speed relative to the ground). After taking off, use the Loiter mode to circle about 5 times. Once the ground station message bar indicates that the calibration is completed, land the aircraft. Set ARSPD_AUTOCAL to 0 after the calibration is finished.