mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-13 11:29:56 +03:00
47 lines
No EOL
2 KiB
Markdown
47 lines
No EOL
2 KiB
Markdown
# Rangefinder
|
|
|
|
Rangefinders are devices used to measure Above Ground Altitude.
|
|
|
|
## Current state
|
|
|
|
Current support of rangefinders in INAV is very limited. They are used only to:
|
|
|
|
* landing detection for multirotors
|
|
* automated landing support for fixed wings
|
|
* _Experimental_ terrain following (Surface) flight mode activated with _SURFACE_ and _ALTHOLD_ flight mode
|
|
|
|
## Hardware
|
|
|
|
Following rangefinders are supported:
|
|
|
|
* SRF10 - experimental
|
|
* INAV_I2C - is a simple [DIY rangefinder interface with Arduino Pro Mini 3.3V](https://github.com/iNavFlight/inav-rangefinder). Can be used to connect when flight controller has no Trigger-Echo ports.
|
|
* VL53L0X - simple laser rangefinder usable up to 75cm
|
|
* UIB - experimental
|
|
* MSP - experimental
|
|
* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
|
|
* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
|
|
* NRA15/NRA24 - experimental, UART version
|
|
|
|
#### NRA15/NRA24
|
|
NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware
|
|
to two different resolutions. See table below.
|
|
|
|
| Radar | Protocol | Resolution | Name in configurator |
|
|
|-------|----------|-----------------|----------------------|
|
|
| NRA15 | US-D1_V0 | 0-30m (+-4cm) | USD1_V0 |
|
|
| NRA15 | NRA | 0-30m (+-4cm) | NRA |
|
|
| NRA15 | NRA | 0-100m (+-10cm) | NRA |
|
|
| NRA24 | US-D1_V0 | 0-50m (+-4cm) | USD1_V0 |
|
|
| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0 |
|
|
| NRA24 | NRA | 0-50m (+-4cm) | NRA |
|
|
| NRA24 | NRA | 0-200m (+-10cm) | NRA |
|
|
|
|
|
|
## Connections
|
|
|
|
I2C solutions like `VL53L0X` or `INAV_I2C` can be connected to I2C port and used as any other I2C device.
|
|
|
|
#### Constraints
|
|
|
|
INAV does not support `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`. |