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31 lines
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1.2 KiB
Markdown
31 lines
No EOL
1.2 KiB
Markdown
# Rangefinder
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Rangefinders are devices used to measure Above Ground Altitude.
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## Current state
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Current support of rangefinders in INAV is very limited. They are used only to:
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* landing detection for multirotors
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* automated landing support for fixed wings
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* _Experimental_ terrain following (Surface) flight mode activated with _SURFACE_ and _ALTHOLD_ flight mode
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## Hardware
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Following rangefinders are supported:
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* SRF10 - experimental
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* 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.
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* VL53L0X - simple laser rangefinder usable up to 75cm
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* UIB - experimental
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* MSP - experimental
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* TOF10120 - small & lightweight laser range sensor, usable up to 200cm
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* TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
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## Connections
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I2C solutions like `VL53L0X` or `INAV_I2C` can be connected to I2C port and used as any other I2C device.
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#### Constraints
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INAV does not support `HC-SR04` and `US-100`. No constrains for I2C like `VL53L0X` or `INAV_I2C`. |