From 60e0ca93211673968ff7fc4c6e27720f9fae9d8c Mon Sep 17 00:00:00 2001
From: Mohamed Abdelkader Zahana <mohamedashraf123@gmail.com>
Date: Sun, 23 Apr 2017 22:53:33 +0300
Subject: [PATCH] add both options (pwm/i2c) for lidar lite

---
 ROMFS/px4fmu_common/init.d/rcS      | 17 +++++++++++++++++
 src/modules/sensors/sensor_params.c |  9 ++++++---
 2 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f8df4fbfc4..d3a46c9d2b 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -471,6 +471,12 @@ then
 	fi
 
 	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
+	then
+		# clear pins 5 and 6
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+	fi
 	if param greater TRIG_MODE 0
 	then
 		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
@@ -731,6 +737,17 @@ then
 
 	# Sensors on the PWM interface bank
 	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
+	# Lidar-Lite on I2C
+	if param compare SENS_EN_LL40LS 2
 	then
 		if pwm_input start
 		then
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index f2c18bff16..4a6974ddb3 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -3230,12 +3230,15 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
 PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
 
 /**
- * Lidar-Lite (LL40LS) I2C
+ * Lidar-Lite (LL40LS)
  *
  * @reboot_required true
- *
- * @boolean
+ * @min 0
+ * @max 2
  * @group Sensor Enable
+ * @value 0 Disabled
+ * @value 1 PWM
+ * @value 2 I2C
  */
 PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);