Hitec Airspeed Sensor User Manual
Introduction
Hitec Airspeed Sensor, featuring the best-in-class DLVR pressure sensor. All Sensors’ CoBeam2 technology improves both sensitivity and long-term stability, allowing the Hitec Airspeed Sensor to provide accurate and reliable performance for professional use. Plus, its flexible interfaces and open-source firmware enable seamless compatibility with unmanned systems and other demanding applications.
Specifications
Variants
The Hitec Airspeed Sensor is offered in four configurations, each with a different operating pressure range.
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DLVR-L05D | +/- 5 | ~ 80kts (41 m/s) |
DLVR-L10D | +/- 10 | ~ 120kts (62 m/s) |
DLVR-L20D | +/- 20 | ~ 170kts (87 m/s) |
DLVR-L60D | +/- 60 | ~ 280kts (144 m/s) |
Hardware & Sensors
Pressure Sensor | DLVR-LxxD-E1BD-I-PI3N |
|---|---|
MCU | STM32G441 |
Firmware | AP_Periph |
Interfaces | I2C, CAN |
Physical
Dimensions | 30 x 25 mm(1.18 x 0.98 in) |
Weight | 6 g(0.2 oz) |
Performance
Input Voltage Range | 5 to 36VDC |
Operating Temperature Range | -20C to 85C |
Humidity Range | 0 to 95% RH |
Proof Pressure | 200 in. H20 (75KPa) |
Burst Pressure | 300 in. H20 (125KPa) 800 in. H20 (200KPa) for DLVR-L60D |
Connectivity
Components & Functions
| J1 | JST-GH 4-pin | DroneCAN connection to AP_Periph |
| J2 | JST-GH 4-pin | I2C connection to pressure sensor |
| J4 | JST-SH 6-pin | Debug connector for MCU |
| J5 | JST-SH 6-pin | UART and GPIO/ADC node connector |
| SW1 | 2-Position DIP Switch | Toggle connection mode & CAN termination |
LED Indicators
Power Applied No Firmware | Off | Off | Off | On |
Bootloader Mode | Blinking quickly | Off | Off | On |
CAN Mode DNA Server Found | Off | Off | Blinking at 1Hz | On |
CAN Mode Awaiting DNA | Off | Off | Triple blink pattern | On |
I2C Mode | Off | Blinking at 1Hz | Off | On |
No Power | Off | Off | Off | Off |
Pinouts
J1 | Pin 1 | VIN (5-36VDC) |
|---|---|---|
Pin 2 | CAN H | |
Pin 3 | CAN L | |
Pin 4 | GND |
J4 | Pin 1 | STM32_VDD |
|---|---|---|
Pin 2 | UART3 TX | |
Pin 3 | UART4 RX | |
Pin 4 | SWDIO | |
Pin 5 | SWCLK | |
Pin 6 | GND |
J2 | Pin 1 | VIN (5-36VDC) |
|---|---|---|
Pin 2 | I2C SCL | |
Pin 3 | I2C SDA | |
Pin 4 | GND |
J5 | Pin 1 | +3V3 |
|---|---|---|
Pin 2 | UART1 TX | |
Pin 3 | UART1 RX | |
Pin 4 | GPIO1 / ADC1_6 | |
Pin 5 | GPIO2 / ADC1_7 | |
Pin 6 | GND |
Pitot Tube
The Airspeed Sensor should be connected to the pitot tube using 1/16” flexible tubing. Ensure that the tubing is secure on the barbs of the DLVR pressure sensor. Tube order does not matter when configured appropriately in Ardupilot.
Ardupilot Integration Guide
I2C
Connecting to the Airspeed Sensor using the I2C connector uses a direct I2C connection for the DLVR pressure sensor. The MCU still boots but is disconnected from the I2C bus.
Move position 2 of the DIP switch to the OFF position, towards the J2 connector. This places the Airspeed Sensor in I2C mode.
Connect the J2 connector of the Airspeed Sensor to the autopilot’s I2C connector using the provided JST-GH cable. Or make your own wiring harness using the pinouts detailed previously.
Configure the following parameters to enable the Airspeed Sensor and select the appropriate DLVR sensor driver. Note that some parameters may vary by flight controller hardware – consult autopilot manufacturer documentation as required. Reboot the autopilot for the changes to take effect.
| Sensor | DLVR-L05D | DLVR-L10D | DLVR-L20D | DLVR-L60D |
| ARSPD_TYPE | 7 | 9 | 10 | 12 |
| ARSPD_BUS | 0 |
| ARSPD_TUBE_ORDER | 2 |
| ARSPD_USE | 1 |
Move position 2 of the DIP switch to the ON position, towards the J1 connector. This places the Airspeed Sensor in CAN mode.
If bus termination is desired, move position 1 of the DIP switch to the ON position. This connects an on-board 120-ohm termination resistor between the CAN signal lines.
Connect the J1 connector of the Airspeed Sensor to the autopilot’s CAN connector using the provided JST-GH cable. Or make your own wiring harness using the pinouts detailed previously.
Configure the following parameters to enable the Airspeed Sensor and DroneCAN communications in general. In this case, the correct DLVR sensor driver for your board’s pressure range is preconfigured within the MCU. Note that some parameters may vary by flight controller hardware – consult autopilot manufacturer documentation as required.
ARSPD_TUBE_ORDER | 2 |
ARSPD_USE | 1 |
ARSPD_TYPE | 8 |
CAN_D1_PROTOCOL | 1 |
CAN_P1_BITRATE | 1000000 |
|---|---|
CAN_P1_DRIVER | 1 |
Connecting to the Airspeed board with Mission Planner
The Airspeed board can be updated and configured over SLCAN using Mission Planner. The latest firmware releases are automatically maintained by the Ardupilot firmware server.
Navigate to the UACAN menu by finding by clicking SETUP on the top navigation bar, then click Optional Hardware in the leftmost column. In that dropdown there should be a UAVCAN or a DroneCAN/UAVCAN selection click it.
Use the “SLCan Mode CAN1” (or “SLCan Mode CAN2 if appropriate)” button in Mission Planner to enter SLCan mode.
The user interface may look like either of these
Configuring CAN parameters
Find the row associated with the Airspeed device, should be called “org.ardupilot.Hitec-Airspeed”. Find the “Parameters” button, it’s either located alongside the row or in the “Menu” button. If you have the parameters button available click that, otherwise click the menu button and choose the “Parameters” option.
Modify any parameters you’d like to change then click “Write Params”, afterwards, click “Commit Params“.
Make sure your airspeed sensor on your board coincides with the ARSP_TYPE parameter, consult with the table provided in Ardupilot Integration portion of this guide to see the mapping between the sensor and it’s corresponding ARSP_TYPE value.
In the UAVCAN menu find the row for the associated airspeed device, and find the “Restart” button to restart the device. Look at screenshots above if you have trouble finding it.
Firmware Update
Once the CAN device corresponding to the Airspeed Sensor appears, expand the menu and choose the “Update” option.
When prompted, click “Yes” to search the internet for an update or “No” to browse for a firmware file manually.
The update will be performed, and the device will restart once complete.
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