Lanbao PSK-CM8JL65-CC5

The Lanbao PSK-CM8JL65-CC5 is a small (38 x 18 x 7mm, <10g) serial (UART) infra-red time-of-flight distance sensor with a stated range of 0.17m to 8m.

Note

This sensor is discontinued and no longer available for purchase from Seeed Studio or other usual distributors, but this page is kept for the benefit of existing owners.

Warning

This sensor has no way of reporting “out of range” – it keeps reporting distances of around 7 to 8 metres even when pointed at open sky. ArduPilot’s driver hard-limits accepted readings to 6 metres for this reason, so RNGFND1_MAX should not be set above 6.

Connecting to the Autopilot

Connect the sensor to any spare Serial/UART port on the autopilot. For example, to use SERIAL4:

• SERIAL4_PROTOCOL = 9 (Lidar)

• RNGFND1_TYPE = 26 (LanbaoPSK-CM8JL65-CC5)

• RNGFND1_MAX = 6 (the driver discards any reading above this)

• RNGFND1_MIN = 0.17 (the sensor’s stated minimum range)

• RNGFND1_GNDCLR set to the distance in metres from the sensor to the ground when the vehicle is landed. This value depends on how you have mounted the sensor.

Note

The sensor always communicates at 115200 baud; ArduPilot’s driver sets this automatically so SERIAL4_BAUD does not need to be changed.

Testing the sensor

Distances read by the sensor can be seen on Mission Planner’s Flight Data screen’s Status tab. Look for “rangefinder1”.