RangeFinders Setup Overview

There are many different kinds of rangefinders: Lidar (using laser or infra-red light to measure distance), Sonar (using ultrasonic sound), and Radar (using microwave RF). Some are analog, producing pulses whose timing represent the distance to an object, others are digital sending data streams over serial to UARTs, or I2C, or even via DroneCAN.

RangeFinders (Sonar or Lidar) can be used for Object Avoidance as well as altitude sensors for precision landing in Plane and Copter.

Warning

Object Avoidance features are new and should be used with caution.

Up to 10 Rangefinders can be used in the system (1 thru A). Object Avoidance can use a single 360 degree Lidar, or up to 9 unidirectional rangefinders: 8 arranged in a circle covering 45 degree wide segments, plus an upward facing rangefinder. And a downward facing rangefinder used for low altitude height above ground measurements.

Connecting and Configuring the Rangefinder

• Follow the instructions for each type of rangefinder described in its linked page on Rangefinders (landing page).

• Set the RNGFNDx_ORIENT parameters (i.e. RNGFND1_ORIENT, RNGFND2_ORIENT, etc.) to specify the direction each range finder is pointing in.

Note

Note that if the type of rangefinder is set or changed, a reboot will be required.

References

• Object Avoidance wiki page is here