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LightwareLaser: add SF1XX rotation parameter (#26428)

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* Add SF1XX rotation parameter and update orientation in LightwareLaser driver

* remove rotation opt arg, update docs about supported lightware

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Alex Klimaj 2026-02-17 12:54:38 -07:00 committed by GitHub
parent 864df9fc7b
commit 0e6b904e80
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
2 changed files with 29 additions and 17 deletions
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23
src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
View File

@ -162,7 +162,8 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::SENS_EN_SF1XX>) _param_sens_en_sf1xx,
(ParamInt<px4::params::SF1XX_MODE>) _param_sf1xx_mode
(ParamInt<px4::params::SF1XX_MODE>) _param_sf1xx_mode,
(ParamInt<px4::params::SF1XX_ROT>) _param_sf1xx_rot
)
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
@ -178,7 +179,7 @@ LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
ModuleParams(nullptr),
_px4_rangefinder(get_device_id(), config.rotation)
_px4_rangefinder(get_device_id())
{
_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LIGHTWARE_LASER);
}
@ -194,6 +195,9 @@ int LightwareLaser::init()
{
int ret = PX4_ERROR;
updateParams();
_px4_rangefinder.set_orientation(_param_sf1xx_rot.get());
const int32_t hw_model = _param_sens_en_sf1xx.get();
switch (hw_model) {
@ -630,7 +634,7 @@ void LightwareLaser::print_usage()
R"DESCR_STR(
### Description
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
)DESCR_STR");
@ -640,28 +644,17 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x66);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
extern "C" __EXPORT int lightware_laser_i2c_main(int argc, char *argv[])
{
int ch;
using ThisDriver = LightwareLaser;
BusCLIArguments cli{true, false};
cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
cli.default_i2c_frequency = 400000;
cli.i2c_address = LIGHTWARE_LASER_BASEADDR;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.rotation = (Rotation)atoi(cli.optArg());
break;
}
}
const char *verb = cli.optArg();
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();

23
src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)
* Lightware laser rangefinder (i2c)
*
* @reboot_required true
* @min 0
@ -52,7 +52,7 @@
PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
/**
* Lightware SF1xx/SF20/LW20 Operation Mode
* Lightware laser rangefinder Operation Mode
*
* @value 0 Disabled
* @value 1 Enabled
@ -62,3 +62,22 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
* @max 2
*/
PARAM_DEFINE_INT32(SF1XX_MODE, 1);
/**
* Lightware laser rangefinder Rotation
*
* Distance sensor orientation as MAV_SENSOR_ORIENTATION enum.
* Applies to all models supported by SENS_EN_SF1XX.
*
* @reboot_required true
* @min 0
* @max 25
* @group Sensors
* @value 0 Forward
* @value 2 Right
* @value 4 Backward
* @value 6 Left
* @value 24 Upward
* @value 25 Downward
*/
PARAM_DEFINE_INT32(SF1XX_ROT, 25);