mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-15 04:15:38 +03:00
0150abf1bc
This can be added back at a later date if required if enough code-size savings can be found, for instance, the removal of the CLI.
44 lines
1.3 KiB
Markdown
44 lines
1.3 KiB
Markdown
# Sonar
|
|
|
|
A sonar sensor can be used to measure altitude for use with BARO and SONAR altitude
|
|
hold modes.
|
|
|
|
The sonar sensor is used instead of the pressure sensor (barometer) at low altitudes.
|
|
The sonar sensor is only used when the aircraft inclination angle (attitude) is small.
|
|
|
|
## Hardware
|
|
|
|
Currently the only supported sensor is the HCSR04 sensor.
|
|
|
|
## Connections
|
|
|
|
### Naze/Flip32+
|
|
|
|
| Mode | Trigger | Echo | Inline 1k resistors |
|
|
| ------------------------------- | ------------- | ------------- | ------------------- |
|
|
| Parallel PWM/ADC current sensor | PB8 / Motor 5 | PB9 / Motor 6 | NO (5v tolerant) |
|
|
| PPM/Serial RX | PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
|
|
|
|
#### Constraints
|
|
|
|
Current meter cannot be used in conjunction with Parallel PWM and Sonar.
|
|
|
|
### Olimexino
|
|
|
|
| Trigger | Echo | Inline 1k resistors |
|
|
| ------------- | ------------- | ------------------- |
|
|
| PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
|
|
|
|
#### Constraints
|
|
|
|
Current meter cannot be used in conjunction with Sonar.
|
|
|
|
### CC3D
|
|
|
|
| Trigger | Echo | Inline 1k resistors |
|
|
| ------------- | ------------- | ------------------- |
|
|
| PB5 | PB0 | YES (3.3v input) |
|
|
|
|
#### Constraints
|
|
|
|
Sonar cannot be used in conjuction with SoftSerial or Parallel PWM.
|