PX4 오토파일럿 사용자 설명서 (v1.12)

# 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

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