LightWare develops a range of light-weight, general purpose, laser altimeters ("Lidar") suitable for mounting on UAVs. These are useful for applications including terrain following, precision hovering (e.g. for photography), warning of regulatory height limits, anti-collision sensing etc.
The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
|SF11/C||120||Serial or I2C bus|
|LW20/B||50||I2C bus||Waterproofed (IP67) with servo for sense-and-avoid applications|
|LW20/C||100||I2C bus||Waterproofed (IP67) with servo for sense-and-avoid applications|
The following models are no longer available from the manufacturer.
|SF10/A||25||Serial or I2C|
|SF10/B||50||Serial or I2C|
|SF10/C||100m||Serial or I2C|
Check the tables above to confirm that which models can be connected to the I2C port.
Connect the Lidar the autopilot I2C port as shown below (in this case, for the Pixhawk 1).
Some older revisions cannot be used with PX4. Specifically they may be miss-configured to have an I2C address equal to
0x55, which conflicts with
rgbledmodule. On Linux systems you may be able to determine the address using i2cdetect. If the I2C address is equal to
0x66the sensor can be used with PX4.
Set the SENS_EN_SF1XX parameter to match the rangefinder model and then reboot.
The lidar can be connected to any unused serial port (UART), e.g.: TELEM2, TELEM3, GPS2 etc.
If the configuration parameter is not available in QGroundControl then you may need to add the driver to the firmware.
Then set the SENS_EN_SF0X parameter to match the rangefinder model and reboot.
- Modules Reference: Distance Sensor (Driver) : sf1xx (PX4 Dev Guide)