# Modules Reference: Distance Sensor (Driver)
# afbrs50
Source: drivers/distance_sensor/broadcom/afbrs50 (opens new window)
# 说明
Driver for the Broadcom AFBRS50.
# 示例
Attempt to start driver on a specified serial device.
afbrs50 start
设置/使用 信息: https://docs.px4.io/master/en/sensor/leddar_one.html
afbrs50 stop
# 用法
afbrs50 <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
[-r <val>] Sensor rotation - downward facing by default
default: 25
test Test driver
stop Stop driver
# gy_us42
Source: drivers/distance_sensor/gy_us42 (opens new window)
# 参数描述
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)
# 描述
Serial bus driver for the LeddarOne LiDAR.
针对 Lightware SFxx 系列 LIDAR 测距仪的 I2C 总线驱动: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20。
设置/使用 信息: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
# 参数描述
Attempt to start driver on a specified serial device.
leddar_one start -d /dev/ttyS1
Stop driver
leddar_one stop
# 示例
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)
# 用法
设置/使用 信息: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
# 参数描述
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)
# 用法
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
# 用法
设置/使用 信息: https://docs.px4.io/master/en/sensor/lidar_lite.html
lightware_laser_serial start -d /dev/ttyS1
Stop driver
lightware_laser_serial stop
# 用法
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)
# 示例
源码:drivers/distance_sensor/pga460 (opens new window)
超声笔测距仪驱动,负责处理与设备的用心并通过 uORB 将距离信息发布出去。
Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html
# 实现
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
# pga460
Source: drivers/distance_sensor/mappydot (opens new window)
# 用法
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)
# 用法
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)
# 使用
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
# 参数描述
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.
# 使用
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)
# 描述
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.
# 示例
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)
# 使用
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
# 描述
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)
# 示例
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
# 描述
Attempt to start driver on a specified serial device.
tfmini start -d /dev/ttyS1
停止驱动程序的运行
tfmini stop
# 用法
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)
# 用法
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