PX4 Guide (v1.15)

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Modules Reference: Distance Sensor (Driver) ​

afbrs50 ​

Source: drivers/distance_sensor/broadcom/afbrs50

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

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

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。

Setup/usage information: https://docs.px4.io/v1.15/en/sensor/leddar_one.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

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/v1.15/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

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/v1.15/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

lightware_sf45_serial ​

Source: drivers/distance_sensor/lightware_sf45_serial

示例 ​

Serial bus driver for the Lightware SF45/b Laser rangefinder.

Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html

描述 ​

Attempt to start driver on a specified serial device.

lightware_sf45_serial start -d /dev/ttyS1

停止驱动程序的运行

lightware_sf45_serial stop

实现 ​

lightware_sf45_serial <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
     -R <val>    Sensor rotation - downward facing by default

   stop          Stop driver

ll40ls ​

Source: drivers/distance_sensor/ll40ls

使用 ​

源码：drivers/distance_sensor/pga460

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/v1.15/en/sensor/lidar_lite.html

用法 ​

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

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

使用 ​

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

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 implemented 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.

参数描述 ​

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

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

Description ​

Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.

描述 ​

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

示例 ​

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/v1.15/en/sensor/rangefinders.html#teraranger-rangefinders

用法 ​

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

tf02pro ​

Source: drivers/distance_sensor/tf02pro

Usage ​

tf02pro <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: 16
     [-R <val>]  Sensor rotation - downward facing by default
                 default: 25

   stop

   status        print status info

tfmini ​

Source: drivers/distance_sensor/tfmini

用法 ​

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/v1.15/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

说明 ​

Serial bus driver for the Aerotenna uLanding radar.

Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html

示例 ​

Attempt to start driver on a specified serial device.

ulanding_radar start -d /dev/ttyS1

设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html

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

参数描述 ​

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

参数描述 ​

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