(1) (1.18) ST VL53L0X/VL53L1X lidar

Article directory

Preface

1 Where to buy

2 Connect to autopilot

3 Parameter description

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Preface

VL53L0X 和 VL53L1X The light and lightning are very small, but the quantity is similar to the shortest (< /span>VL53L1X< /span>). 4m 为 , 2m 为 VL53L0X

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！Note

The support of the super light thunder force has already appeared Copter-3.6, Rover-3.3 a> Sum Plane-3.9 Medium. Copter-4.0 中发BU了对 4m ST VL53L1X support.

！Note

This sensor is suitable for indoor use, but its range and accuracy are significantly reduced in strong light conditions, so it is not recommended for outdoor use.

1 Where to buy

• Polo (VL53L0X, 2m)；
• Adafruit (VL53L0X, 2m)；
• Holybro (VL53L1X, 4m)。

2 Connect to autopilot

Set the lidar'sVCC, GND, < /span> port and the first rangefinder are shown below. I2C The connections for the autopilot lines connected to SCL and SDA

Please set the rangefinder parameters as shown in the figure below (can be completed through the Mission PlannerConfiguration/Tuning|Full Parameter List page ):

• RNGFND1_TYPE = 16 (VL53L0X)；
• RNGFND1_ADDR = 41（Gekkōrai 达的 I2C< /span>;41 16-way system, 10-way system 0x29 The land I2C 地址, 10 series system). Your sensory perception
• RNGFND1_SCALING = 1；
• RNGFND1_MIN_CM  = 5；
• ForVL53L0X, RNGFND1_MAX_CM = 120; For VL53L1X, RNGFND1_MAX_CM = 360< /span>. This is the distance in centimeters that a rangefinder can reliably read;
• RNGFND1_GNDCLEAR = 10 or more accurately, that is, the distance from the rangefinder to the ground when the aircraft lands (centimeter). This value depends on how the rangefinder is mounted.

Test sensor

The distance read by the sensor can be viewed in the Status tab of theMission PlannerFlight Data screen. Look closely at the "sonarrange".

3 Parameter description

1,RNGFND1_TYPE: Distance type

Type of connected rangefinder.

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

2,RNGFND1_MIN_CM: Minimum distance

The minimum distance (in centimeters) that a rangefinder can reliably read.

centimeters

3,RNGFND1_MAX_CM: Maximum distance of rangefinder

The maximum distance (in centimeters) that a rangefinder can reliably read.

centimeters