LIDAR-Lite is a compact, high-performance optical distant measurement sensor solution for drone, robot or unmanned vehicle applications. It can be connected to either I2C or PWM.
Where to Buy
- LIDAR-Lite v3 (5cm - 40m)
The Lidar-Lite v3 can be used with either PWM or I2C. PWM is recommended if using an older model.
The I2C interface of non-blue-label Lidar-Lite (v1) devices has stability limitations and all silver-label generations of Lidar-Lite sensors are therefore excluded from the I2C interface. The use of the PWM interface (as detailed below) is advised for these sensors. The blue label (v2) devices can exhibit a constant offset if powered on with less than 5V under some conditions. This is currently (Q4/2015) under investigation by the manufacturer and potentially can be resolved by adhering to specific operational conditions. The recommended robust setup is a v1 device interfaced via PWM.
The servo must be separately powered via some ESC/BEC (whether connected via PWM or I2C).
PWM Interface Wiring
|Pixhawk AUX servo pin||Lidar-Lite pin||Comment|
|AUX row 5 (bottom)||3 / PWM||PWM input of the Lidar Lite. Needs a 470 Ohm pull-down (to GND)|
|AUX row 6 (center)||1 / +5V||Power supply|
|AUX row 6 (top)||6 / GND||Ground|
|AUX row 6 (bottom)||2 / RESET||Reset line of the sensor|
I2C Interface Wiring
The rangefinder/port is enabled using SENS_EN_LL40LS - set to
1 for PWM, or
2 for I2C.
The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (
drivers/ll40ls) to the board configuration..