inav/docs/Rangefinder.md

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. 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

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.