Rangefinders (landing page)¶

Copter/Plane/Rover support a number of different rangefinders including Lidars (which use lasers or infra-red beams for distance measurements) and Sonars (which use ultrasonic sound), and also includes Maxbotix Sonar and Pulsed Light LED range finders. These devices can be used for measuring distance near to the ground for precision landings and altitude control, water depth, or object distance as proximity sensors for avoiding objects.

360 degree Lidars are typically used in object avoidance as proximity sensors. While multiple 1D (single dimensional) sensors can be used for proximity detection.

Tip

If you get a “Bad LiDAR Health” message in Mission Planner this is caused because the rangefinder isn’t enabled for landing. This is done through the RNGFND_LANDING parameter and if set you should see the message disappear.

Warning

RNGFND_MAX_CM must be set to a tested, appropriate value. If RNGFND_MAX_CM is set to a value greater than the range of the sensor, the autopilot will not respond correctly to the data provided.

Follow the links below (or in sidebar) for configuration information based upon your set-up.