Digital AirSpeed sensor ASPD-DLVR, I2C & CAN

Digital AirSpeed sensor ASPD-DLVR

Update

As STM32F303CCT6 and STM32F405RGT6 are in shortage. ASPD-DLVR has been updated with L431 CAN node since Mar.2022. L431 version has identical PCB size(purple PCB) and layout to previous F405 version.

Black PCB, F303 CAN node, Jul.2020 — Dec.2020
Blue PCB, F405 CAN node, Jan.2021 — Feb.2022
Purple PCB, L431 CAN node, Mar.2022 — now

Gallery

Spec.& Settings

All sensors DLVR series is the best airspeed sensor ArduPilot currently support.

Specifications & Features

ArduPilot AP_Periph L431/F405/F303 CAN node
All sensors DLVR-L10D, Industrial temperature range
CAN & I2C Interface
Typical Platforms: Fixed-Wing, QuadPlane, VTOL

CAN JST-GH connector, DroneCAN Protocol
I2C JST-GH connector, DLVR-L10D I2C mode (I2C address 0x28)

F303 ver. (Black PCB)
- UART1, Firmware update
- UART2, Spare for external GPS
F405 ver. (Blue PCB)
- UART1, Firmware update
- UART4, Spare for external GPS
L431 ver. (Purple PCB)
- UART2, Firmware update
- UART3, Spare for external GPS

CAN bootloader LED, Blue
- Fast blinking, AP_Periph bootloader
- Slow blinking, CAN Node ready
3.3V Power LED, Red

22mm*22mm*12.5mm(F303 ver.)
23mm*23mm*12.5mm(F405 ver.)
4g

Includes

1x ASPD-DLVR
2x JST-GH-4P to JST-GH-4P 20cm silicon wire
Pitot Tube
Clear silicon tubing 40cm

AP_Periph & DroneCAN protocol

Firmware AP_Periph https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/README.md
DroneCAN protocol https://dronecan.github.io/

Tips

ArduPilot has removed DLVR I2C support by default on flight controller with 1MB flash MCU(such as F405, F745 series).

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Wiring and AP Parameters

CAN		or	I2C
ASPD-DLVR	Flight Controller		ASPD-DLVR	Flight Controller
5V	5V		5V	5V
C-H	CAN High		SCL	SCL
C-L	CAN Low		SDA	SDA
G	GND		G	GND

CAN_D1_PROTOCOL	1
CAN_P1_DRIVER	1		ARSPD_PIN	65
ARSPD_TYPE	8 (UAVCAN)		ARSPD_TYPE	9 (I2C-DLVR-10in)
ARSPD_USE	1		ARSPD_USE	1
Mission Planner-> Initial Setup-> Optional Hardware-> UAVCAN-> SLCan Mode CAN1 -> Parameters -> ARSP_TYPE	9 (DLVR-10in) Write and reboot

Pinout & Pads

GH-4P Pin	Signal	Wires color	GH-4P Pin	Signal	Wires color
5V	4~6V input	Red	5V	4.5~5.5V input	Red
C-H	CAN high	Yellow	SCL	I2C-SCL	Yellow
C-L	CAN low	Blue	SDA	I2C-SDA	Blue
G	GND	Black	G	GND	Black

T1	UART1-TX	Tx1	UART1-TX	bt	Boot pin
R1	UART1-RX	Rx1	UART1-RX	3 / 3v3	onboard LDO output
Tx2	UART2-TX	Tx4	UART4-TX	D	SWDIO
Rx2	UART2-RX	Rx4	UART4-RX	G	GND
Tx3	UART3-TX	Tx5	UART5-TX	C	SWCLK
Rx3	UART3-RX	Rx5	UART5-RX	RST	NRST

Wiring & settings

Firmwares

Firmware: https://firmware.ardupilot.org/AP_Periph/stable/
F303 CAN node, Black PCB, ArduPilot hwdef “f303-MatekGPS”
F405 CAN node, Blue PCB, ArduPilot hwdef “f405-MatekAirspeed” or “f405-MatekGPS”
L431 CAN node, Purple PCB, ArduPilot hwdef “MatekL431-Airspeed” or “MatekL431-Periph”

–

1. Update firmware in Mission Planner with “AP_Periph.bin”

2. Update firmware in STM32CubeProgrammer with “AP_Periph_with_bl.hex”

Tool https://www.st.com/en/development-tools/stm32cubeprog.html

You may download Windows version from our server en.stm32cubeprog_v2-3-0.zip

Resellers