Modules Reference: Distance Sensor (Driver)

leddar_one

Source: drivers/distance_sensor/leddar_one

Description

Serial bus driver for the LeddarOne LiDAR.

Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter.

Setup/usage information: https://docs.px4.io/en/sensor/leddar_one.html

Examples

Attempt to start driver on a specified serial device.

leddar_one start -d /dev/ttyS1

Stop driver

leddar_one stop

Usage 

leddar_one <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
     [-r <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop          Stop driver

ll40ls

Source: drivers/distance_sensor/ll40ls

Description

I2C bus driver for LidarLite rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.

Setup/usage information: https://docs.px4.io/en/sensor/lidar_lite.html

Usage 

ll40ls <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-R <val>]  Rotation
                 default: 0

   regdump

   stop

   status        print status info

mappydot

Source: drivers/distance_sensor/mappydot

Usage 

mappydot <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz

   stop

   status        print status info

mb12xx

Source: drivers/distance_sensor/mb12xx

Usage 

mb12xx <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-a <val>]  I2C address
                 default: 112

   set_address
     [-a <val>]  I2C address
                 default: 112

   stop

   status        print status info

pga460

Source: drivers/distance_sensor/pga460

Description

Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.

Implementation

This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve the quality of data that is being published. The driver will not publish data at all if it deems the sensor data to be invalid or unstable.

Usage 

pga460 <command> [arguments...]
 Commands:
   start
     [device_path] The pga460 sensor device path, (e.g: /dev/ttyS6)

   status

   stop

   help

sf0x

Source: drivers/distance_sensor/sf0x

Description

Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.

Most boards are configured to enable/start the driver on a specified UART using the SENS_SF0X_CFG parameter.

Setup/usage information: https://docs.px4.io/en/sensor/sfxx_lidar.html

Examples

Attempt to start driver on a specified serial device.

sf0x start -d /dev/ttyS1

Stop driver

sf0x stop

Usage 

sf0x <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop          Stop driver

sf1xx

Source: drivers/distance_sensor/sf1xx

Description

I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.

Setup/usage information: https://docs.px4.io/en/sensor/sfxx_lidar.html

Usage 

sf1xx <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

srf02

Source: drivers/distance_sensor/srf02

Usage 

srf02 <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

teraranger

Source: drivers/distance_sensor/teraranger

Description

I2C bus driver for TeraRanger rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.

Setup/usage information: https://docs.px4.io/en/sensor/rangefinders.html#teraranger-rangefinders

Usage 

teraranger <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

tfmini

Source: drivers/distance_sensor/tfmini

Description

Serial bus driver for the Benewake TFmini LiDAR.

Most boards are configured to enable/start the driver on a specified UART using the SENS_TFMINI_CFG parameter.

Setup/usage information: https://docs.px4.io/en/sensor/tfmini.html

Examples

Attempt to start driver on a specified serial device.

tfmini start -d /dev/ttyS1

Stop driver

tfmini stop

Usage 

tfmini <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   status        Driver status

   stop          Stop driver

   test          Test driver (basic functional tests)

   status        Print driver status

ulanding_radar

Source: drivers/distance_sensor/ulanding_radar

Description

Serial bus driver for the Aerotenna uLanding radar.

Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html

Examples

Attempt to start driver on a specified serial device.

ulanding_radar start -d /dev/ttyS1

Stop driver

ulanding_radar stop

Usage 

ulanding_radar <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
                 values: <file:dev>, default: /dev/ttyS3
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop          Stop driver

vl53lxx

Source: drivers/distance_sensor/vl53lxx

Usage 

vl53lxx <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
     [-X]        External I2C bus(es)
     [-b <val>]  bus (board-specific internal (default=all) or n-th external
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

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