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inav/docs/Rangefinder.md
Pawel Spychalski (DzikuVx) 2b7b47e72c I2C rangefinder rename
2018-06-06 08:43:45 +02:00

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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:

  • HC-SR04 - DO NOT USE HC-SR04 while most popular is not suited to use in noise reach environments (like multirotors). It is proven that this sonar rangefinder start to report random values already at 1.5m above solid concrete surface. Reported altitude is valid up to only 75cm above concrete. DO NOT USE
  • US-100 in trigger-echo mode - Can be used as direct replacement of HC-SR04 when rangefinder_hardware is set to HCSR04. Useful up to 2m over concrete and correctly reporting out of range when out of range
  • SRF10 - experimental
  • INAV_I2C - is a simple DIY rangefinder interface with Arduino Pro Mini 3.3V. 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

Connections

Target dependent in case of Trigger/Echo solutions like HC-SR04 and US-100. I2C solutions like VL53L0X or INAV_I2C can be connected to I2C port and used as any other I2C device.

Constraints

Target dependent in case of Trigger/Echo solutions like HC-SR04 and US-100. No constrains for I2C like VL53L0X or INAV_I2C.