LeddarOne Lidar
LeddarOne is small Lidar module with a narrow, yet diffuse beam that offers excellent overall detection range and performance, in a robust, reliable, cost-effective package. It has a sensing range from 1cm to 40m and needs to be connected to a UART/serial bus.
硬件安装
LeddarOne can be connected to any unused serial port (UART), e.g.: TELEM2, TELEM3, GPS2 etc.
Build a cable following your board and pinout and LeddarOne pinout (shown below). You only will need to connect 5V, TX, RX and GND pins.
| 针脚 | LeddarOne |
|---|---|
| 1 | GND |
| 2 | - |
| 3 | VCC |
| 4 | RX |
| 5 | TX |
| 6 | - |
Parameter Setup
Configure the serial port on which the lidar will run using SENS_LEDDAR1_CFG. 无需设置端口的波特率, 因为这是由驱动程序配置的。
If the configuration parameter is not available in QGroundControl then you may need to add the driver to the firmware:
plain
CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y