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모듈 참조: 거리 센서(드라이버) ​

afbrs50 ​

Source: drivers/distance_sensor/broadcom/afbrs50

설명 ​

Driver for the Broadcom AFBR-S50 time-of-flight rangefinder.

예 ​

afbrs50 start
afbrs50 stop

Run an absolute range offset calibration against a flat target at a known distance (in meters), then check the result. Offsets persist to SENS_AFBR_OFS_LO/HI and are re-applied at startup.

afbrs50 cal start 0.3
afbrs50 cal status

Usage ​

afbrs50 <command> [arguments...]
 Commands:
   start

   cal           Range offset calibration: cal start <distance_m> | status |
                 stop

   stop

   status        print status info

gy_us42 ​

Source: drivers/distance_sensor/gy_us42

Usage ​

gy_us42 <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

leddar_one ​

Source: drivers/distance_sensor/leddar_one

설명 ​

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/main/en/sensor/leddar_one.html

예 ​

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

lightware_grf_serial ​

Source: drivers/distance_sensor/lightware_grf_serial

설명 ​

Serial bus driver for the Lightware GRF Laser rangefinder.

설정 ​

https://docs.px4.io/main/en/sensor/grf_lidar

매개변수 ​

https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODELhttps://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFGhttps://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG

예 ​

Attempt to start driver on a specified serial device.

lightware_grf_serial start -d /dev/ttyS1

Stop driver

lightware_grf_serial stop

Usage ​

lightware_grf_serial <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device

   stop          Stop driver

lightware_laser_i2c ​

Source: drivers/distance_sensor/lightware_laser_i2c

설명 ​

I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.

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

Usage ​

lightware_laser_i2c <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 102

   stop

   status        print status info

lightware_laser_serial ​

Source: drivers/distance_sensor/lightware_laser_serial

설명 ​

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/main/en/sensor/sfxx_lidar.html

예 ​

Attempt to start driver on a specified serial device.

lightware_laser_serial start -d /dev/ttyS1

Stop driver

lightware_laser_serial stop

Usage ​

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

   stop          Stop driver

lightware_sf45_serial ​

Source: drivers/distance_sensor/lightware_sf45_serial

설명 ​

Serial bus driver for the Lightware SF45/b Laser rangefinder.

예 ​

Attempt to start driver on a specified serial device.

lightware_sf45_serial start -d /dev/ttyS1

Stop driver

lightware_sf45_serial stop

Usage ​

lightware_sf45_serial <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device

   stop          Stop driver

ll40ls ​

Source: drivers/distance_sensor/ll40ls

설명 ​

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/main/en/sensor/lidar_lite.html

Usage ​

ll40ls <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 98
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   regdump

   stop

   status        print status info

ll40ls_pwm ​

Source: drivers/distance_sensor/ll40ls_pwm

설명 ​

PWM driver for LidarLite rangefinders.

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

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

Usage ​

ll40ls_pwm <command> [arguments...]
 Commands:
   start         Start driver
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   status        Print driver status information

   stop          Stop driver

mappydot ​

Source: drivers/distance_sensor/mappydot

Usage ​

mappydot <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)

   stop

   status        print status info

mb12xx ​

Source: drivers/distance_sensor/mb12xx

Usage ​

mb12xx <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)

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

   stop

   status        print status info

pga460 ​

Source: drivers/distance_sensor/pga460

설명 ​

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

구현 ​

This driver is implemented 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

sony_asdt1 ​

Source: drivers/distance_sensor/sony

설명 ​

Sony AS-DT1 serial driver. The driver probes 921600 and 115200 baud, configures the sensor for binary streaming, and publishes multipoint distance measurements.

예 ​

sony_asdt1 start -d /dev/ttyS4
sony_asdt1 start -d /dev/ttyS4 -s
sony_asdt1 status
sony_asdt1 stop

Usage ​

sony_asdt1 <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
     [-s]        Send flshow and print response instead of starting measurements

   stop          Stop driver

   status        Print driver status

srf02 ​

Source: drivers/distance_sensor/srf02

Usage ​

srf02 <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 112
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

srf05 ​

Source: drivers/distance_sensor/srf05

설명 ​

Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.

Usage ​

srf05 <command> [arguments...]
 Commands:
   start         Start driver
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   status        Print driver status information

   stop          Stop driver

   stop

   status        print status info

teraranger ​

Source: drivers/distance_sensor/teraranger

설명 ​

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/main/en/sensor/rangefinders.html#teraranger-rangefinders

Usage ​

teraranger <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 48
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

tf02pro ​

Source: drivers/distance_sensor/tf02pro

Usage ​

tf02pro <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 16
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

tfmini ​

Source: drivers/distance_sensor/tfmini

설명 ​

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/main/en/sensor/tfmini.html

예 ​

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

   status        Print driver status

ulanding_radar ​

Source: drivers/distance_sensor/ulanding_radar

설명 ​

Serial bus driver for the Aerotenna uLanding radar.

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

예 ​

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

vl53l0x ​

Source: drivers/distance_sensor/vl53l0x

Usage ​

vl53l0x <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 41
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

vl53l1x ​

Source: drivers/distance_sensor/vl53l1x

Usage ​

vl53l1x <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
                 given)
     [-X]        External I2C bus(es) (connector sensors, including shared
                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 41
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info