Chapter 1. Product Overview
1.1 Product Features
1. AUAV-L10D Airspeed Sensor Dual-Channel Synchronous Sampling
The UniASP L10D uses the AUAV-L10D differential pressure sensor. Compared with the DLVR-L10D version, it features dual independent channels for the differential pressure and the absolute pressure sensing element, enabling simultaneous real-time acquisition of both differential and absolute pressure. It also delivers lower static noise and greater stability under low-airspeed conditions.
2. 0 ~ 227 km/h Wide-Range Measurement
UniASP L10D has a wider airspeed measurement range to meet diverse demands across most industrial UAV applications.
3. ± 0.2% FS High Precision
Total measurement error band as low as ±0.2% FS, delivering higher data accuracy than conventional airspeed sensors.
4. -30 ~ 60 ℃ Wide Operating Temperature Range
The UniASP L10D offers enhanced temperature adaptability, capable of operating stably at –30 °C and effectively reducing the impact of high‑altitude temperature variations on measurement accuracy.
5. Superior Shock Resistance
Equipped with the AUAV-L10D airspeed sensor, it delivers stronger shock resistance than conventional MS4525 and MS5525 airspeed sensors. It effectively reduces zero-point drift caused by vibration, providing greater safety redundancy for flight.
6. DroneCAN Protocol, Stronger Aniti-Interference
DroneCAN communication with differential twisted-pair transmission offers stronger immunity to electromagnetic interference from motors and ESCs. In long-cable fixed-wing setups, it delivers lower packet loss and offset, and supports bidirectional communication with the flight controller for higher reliability.
7. Parameter Tuning, Flexible CAN Resistors Switching
The UniASP L10D airspeed sensor supports flexible enable/disable of its built-in 120Ω terminating resistor via ground station software, making it easy to dynamically match bus load configurations without hardware changes — enhancing flexibility and compatibility for complete vehicle integration.
8. Meet SIYI Ecosystem Expansion
Gimbal Camera – Link & Controller – Autopilot – Propulsion System – Software, Five-in-one integration. UniASP L10D is deeply integrated into the SIYI ecosystem, enabling quickly connect to various components, greatly reducing adaptation costs. Paired with UniGCS software, one-stop parameter tuning and control. More expansion possibilities, beyond traditional open-source ecosystem!
1.2 Interface and Pin Definitions
1.3 Technical Specifications
| Processor | STM32L431 |
| Airspeed Sensor | AUAV-L10D |
| Measurement range | 0 ~ 227 km/h |
| Measurement Accuracy | ±0.2% |
| Communication Protocol | DroneCAN |
| Supported Firmware | Ardupilot / PX4 |
| Operating Voltage | 4.5 ~ 5.5 V |
| Operating Temperature | ~ 30℃ ~ 60℃ |
| Shell Material | Aluminum alloy |
| Weight | 16 g |
1.4 Package List
| 1 x UniASP L10D Airspeed Sensor |
| 1 x Differential Pitot Tube |
| 1 x CAN Adapter Cable |
| 3x 3M Double-Sided Tape (40×20 mm) |
1.5 LED Definitions
Power Indicator Light
Solid red: Module power supply normal.
Red off: Module not powered.
CAN Indicator Light
Fast green flashing: CAN node not assigned.
Green flashing once per second: CAN node assigned
Chapter 2. Installation & Mounting
2.1 Airspeed Sensor Installation
Mount the UniASP L10D airspeed sensor securely in a suitable position inside the airframe using the 3M double-sided tape provided in the kit.
Ensure it is firmly and reliably mounted to prevent loosening or vibration during flight.
2.2 Pitot Tube Connection
The pitot tube should be installed facing the incoming airflow (on the nose or either wing) to ensure smooth airflow into the airspeed tube. The front port of the pitot tube must face directly forward in the direction of flight, and the side pressure ports must not be obstructed. After installation, the front end of the pitot tube should extend at least 1 cm beyond the nose to avoid airflow interference from the airframe affecting airspeed measurement.
Cut the tubing for the differential airspeed probe to an appropriate length based on the actual installation requirements. Connect the tubing between the pitot tube and the airspeed module as shown in the figure below — ports with the same marking should be connected together. Secure the tubing to the inner wall of the fuselage using 3M double-sided tape. The tubing should maintain a natural curve to ensure unobstructed airflow inside, with no blockage or pinching, as this may cause abnormal airspeed readings.
Chapter 3. Using With ArduPlane
3.1 Parameter Settings
Plug the UniASP L10D into the CAN1 or CAN2 port on the flight controller, flash ArduPlane 4.6.3 or later firmware, and configure the following parameters to start using it:
- CAN_P1_DRIVER = 1 — Enable CAN1 bus
- CAN_P2_DRIVER = 1 — Enable CAN2 bus
- ARSPD_TYPE = 8 — Set the airspeed sensor communication type to DroneCAN
After configuring the above parameters, restart the flight controller and check whether the airspeed value changes in the ground station. If it changes, the flight controller has successfully recognized the airspeed sensor.
Note
For details, please refer to:
https://ardupilot.org/plane/docs/airspeed.html
3.2 Static Calibration
Airspeed sensor static calibration must be performed before every takeoff.
1. Open Mission Planner and connect to the flight controller.
2. Cover the pitot tube with your hand to block the influence of natural wind on the airspeed sensor, but do not completely seal it off.
3. In the “Flight Data” interface, select the “Actions” tab. In the first dropdown menu, select “Preflight_Calibration”, then click the “Do Action” button.
4. Once calibration is complete, a calibration completion message will appear in the Messages section, indicating that the airspeed sensor has been statically calibrated.
Note
During the airspeed zeroing process, do not blow into the pitot tube or move the aircraft. Ensure the pitot tube is in a stationary, wind-free environment; otherwise, calibration accuracy may be affected.
3.3 In-Flight Calibration
In the Full Parameter List, set ARSPD_AUTOCAL = 1, write and save the parameters, and restart the flight controller. After rebooting, take off and fly in Loiter mode, allowing the aircraft to circle automatically in the air for more than ten minutes. During the circling, the flight controller will prompt you to reset the ARSPD_RATIO parameter, indicating that in-flight calibration has been completed. After landing, check whether the ARSPD_RATIO value is within the range of 1 to 3. If it falls outside this range, check whether the pitot tube is properly installed or if there is any foreign matter inside. After calibration is complete, set ARSPD_AUTOCAL back to 0.
Note
Airspeed in-flight calibration must be completed correctly to obtain a proper ARSPD_RATIO value; otherwise, the airspeed readings will be inaccurate.
Chapter 4. Using With PX4
Parameter Settings
Plug the UniASP L10D into the CAN1 or CAN2 port on the flight controller, flash the PX4 firmware, and configure the following parameters to start using it:
- UAVCAN_ENABLE – Set to Sensors automatic Config
- UAVCAN_SUB_ASPD – Set to Enable
- UAVCAN_SUB_DPRES – Set to Enable
After making these changes, restart the flight controller. The airspeed data will then be visible in the QGroundControl ground station.
Note
Under PX4 firmware, an SD card must be inserted in the flight controller to use CAN.
Calibrating the Airspeed Sensor
Open QGroundControl and connect to the flight controller. Click the Airspeed Sensor tab to perform calibration. When the message “[cal] Blow into front of pitot without touching” appears, blow into the dynamic pressure port of the pitot tube. Once the blowing pressure reaches 50 Pa, calibration is complete.
Note
For details, please refer to:
https://docs.ncnynl.com/en/px4/zh/config/airspeed.html
Chapter 5. Configuring the CAN Terminal Resistor
Use the ground station software to enable or disable the CAN terminating resistor on the UniASP L10D airspeed sensor.
1. Open the Initial Setup interface in Mission Planner, and under Optional Hardware, select the DroneCAN/UAVCAN tab.
2. Select MAVLINKCAN to connect.
3. In the device list, select the SIYI-UniASP-L10D airspeed sensor, then go to Menu → Parameters.
4. Change the value of the parameter CAN_TERMINATE to 1.
5. Write the parameters, then restart the flight controller. The terminating resistor is now enabled.
To disable the terminating resistor, follow the same steps and set CAN_TERMINATE to 0.
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