Mach Number
The Mach number tells you whether compressibility matters: below ~0.3 a flow is effectively incompressible, near 1 it is transonic.
The Mach number is M = v/a. where v is the flow speed and a the local speed of sound.
Divide the speed by the speed of sound.
Results
Below Mach 0.3 density changes are negligible; above Mach 1 the flow is supersonic and shock waves form. This single ratio decides which aerodynamic model applies.