# Modules Reference: Distance Sensor (Driver)
# afbrs50
Source: drivers/distance_sensor/broadcom/afbrs50 (opens new window)
# Description
Driver for the Broadcom AFBRS50.
# Examples
Attempt to start driver on a specified serial device.
afbrs50 start
Stop driver
afbrs50 stop
# Usage
afbrs50 <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
[-r <val>] Sensor rotation - downward facing by default
default: 25
stop Stop driver
# gy_us42
Source: drivers/distance_sensor/gy_us42 (opens new window)
# Usage
gy_us42 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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 (opens new window)
# Description
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/master/en/sensor/leddar_one.html
# Examples
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_laser_i2c
Source: drivers/distance_sensor/lightware_laser_i2c (opens new window)
# Description
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
# Usage
lightware_laser_i2c <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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
[-R <val>] Sensor rotation - downward facing by default
default: 25
stop
status print status info
# lightware_laser_serial
Source: drivers/distance_sensor/lightware_laser_serial (opens new window)
# Description
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/master/en/sensor/sfxx_lidar.html
# Examples
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
# ll40ls
Source: drivers/distance_sensor/ll40ls (opens new window)
# Description
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/master/en/sensor/lidar_lite.html
# Usage
ll40ls <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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
# mappydot
Source: drivers/distance_sensor/mappydot (opens new window)
# Usage
mappydot <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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 (opens new window)
# Usage
mb12xx <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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 (opens new window)
# Description
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
# Implementation
This driver is implented 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
# srf02
Source: drivers/distance_sensor/srf02 (opens new window)
# Usage
srf02 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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 (opens new window)
# Description
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 (opens new window)
# Description
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/master/en/sensor/rangefinders.html#teraranger-rangefinders
# Usage
teraranger <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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
# tfmini
Source: drivers/distance_sensor/tfmini (opens new window)
# Description
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/master/en/sensor/tfmini.html
# Examples
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
test Test driver (basic functional tests)
status Print driver status
# ulanding_radar
Source: drivers/distance_sensor/ulanding_radar (opens new window)
# Description
Serial bus driver for the Aerotenna uLanding radar.
Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html
# Examples
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 (opens new window)
# Usage
vl53l0x <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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 (opens new window)
# Usage
vl53l1x <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-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