# LightWare SF1X/SF02/LW20 Lidar

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.

LightWare SF11/C Lidar

# Supported Models

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).

# Available

Model Range (m) Bus 参数描述
SF11/C (opens new window) 120 Serial or I2C bus
LW20/B (opens new window) 50 I2C bus Waterproofed (IP67) with servo for sense-and-avoid applications
LW20/C (opens new window) 100 I2C bus Waterproofed (IP67) with servo for sense-and-avoid applications

# Discontinued

The following models are no longer available from the manufacturer.

Model 范围 Bus
SF02 (opens new window) 50 Serial
SF10/A (opens new window) 25 Serial or I2C
SF10/B (opens new window) 50 Serial or I2C
SF10/C 100m Serial or I2C

# I2C Setup

Check the tables above to confirm that which models can be connected to the I2C port.

# 硬件

Connect the Lidar the autopilot I2C port as shown below (in this case, for the Pixhawk 1).

SF1XX LIDAR to I2C connection

Note 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 rgbled module. On Linux systems you may be able to determine the address using i2cdetect (opens new window). If the I2C address is equal to 0x66 the sensor can be used with PX4.

# Parameter Setup

Set the SENS_EN_SF1XX parameter to match the rangefinder model and then reboot.

# Serial Setup

# 硬件

The lidar can be connected to any unused serial port (UART), e.g.: TELEM2, TELEM3, GPS2 etc.

# Parameter Setup

Configure the serial port on which the lidar will run using SENS_SF0X_CFG. 无需设置端口的波特率, 因为这是由驱动程序配置的。

Note 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.

# 更多信息