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@@ -15,11 +15,69 @@ This is a subset of the rangefinders that can be used with PX4.
There may also be other DroneCAN rangefinders than those listed here.
:::
### ARK Flow & AKR Flow MR
| Rangefinder | Technology | Range (min – max) | Connections | NDAA | 备注 |
| ------------------------------------------------------------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------- | ----------------------------------------- | ----------------- | ------------------------------------------------------ |
| [Ainstein US-D1 Standard Radar Altimeter] | Microwave radar | ~50 m | UART | ✔️ | |
| [ARK DIST SR] | ToF (850 nm IR) | 8 cm to ~30 m | DroneCAN, UART | ✔️ | |
| [ARK DIST MR] | ToF (IR) | 8 cm to ~50 m | DroneCAN, UART | ✔️ | |
| [Benewake TFmini] | ToF (IR laser) | ~12 m | UART | ~ | |
| [Holybro ST VL53L1X Lidar] | ToF (IR) | up to ~4 m | I2C | ~ | |
| [LeddarOne] | ToF (IR) | 1 cm – 40 m | UART | ~ | |
| [Lidar-Lite] | ToF (IR laser) | 5 cm – 40 m | I2C, PWM | ~ | |
| [LightWare SF11/C] | ToF (IR laser) | up to ~120 m | UART, I2C | ~ | |
| [LightWare LW20/C] | ToF (IR laser) | up to ~100 m | I2C | ~ | Waterproof (IP67) + servo |
| [LightWare SF45/B] | ToF (IR laser) | ~50 m | UART | ~ | Rotary lidar (collision prevention) |
| [MaxBotix I2CXL-MaxSonar-EZ] | Ultrasonic | | I2C | ~ | |
| [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR) | ~0.1 m – ~8 m | DroneCAN, Cyphal | ~ | |
| [TeraRanger Evo 60 m] | ToF (IR) | 0.5 m – 60 m | I2C | ~ | |
| [TeraRanger Evo 600Hz] | ToF (IR) | 0.75 m – 8 m | I2C | ~ | High update rate (600 Hz) |
| [LightWare SF02] _(disc.)_ | ToF (IR laser) | ~50 m | UART | ~ | Discontinued |
| [LightWare SF10/A] _(disc.)_ | ToF (IR laser) | ~25 m | UART, I2C | ~ | Discontinued |
| [LightWare SF10/B] _(disc.)_ | ToF (IR laser) | ~50 m | UART, I2C | ~ | Discontinued |
| [LightWare SF10/C] _(disc.)_ | ToF (IR laser) | ~100 m | UART, I2C | ~ | Discontinued |
| [Lanbao PSK-CM8JL65-CC5] _(disc.)_ | ToF (IR) | 0.17 m – 8 m | UART | ✖️ | Discontinued |
| [TeraRanger One] _(disc.)_ | ToF (IR) | ~0.2 m – ~14 m (typical) | I2C (adapter required) | ~ | Discontinued |
[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
它可以通过CAN1接口连接至飞控，允许通过CAN2接口添加传感器。
It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.
[Ainstein US-D1 Standard Radar Altimeter]: ../sensor/ulanding_radar.md
[ARK DIST SR]: ../dronecan/ark_dist.md
[ARK DIST MR]: ../dronecan/ark_dist_mr.md
[Benewake TFmini]: ../sensor/tfmini.md
[Holybro ST VL53L1X Lidar]: #holybro-st-vl53l1x-lidar
[Lanbao PSK-CM8JL65-CC5]: ../sensor/cm8jl65_ir_distance_sensor.md
[LeddarOne]: ../sensor/leddar_one.md
[Lidar-Lite]: ../sensor/lidar_lite.md
[LightWare Lidar]: ../sensor/sfxx_lidar.md
[LightWare SF11/C]: ../sensor/sfxx_lidar.md
[LightWare LW20/C]: ../sensor/sfxx_lidar.md
[LightWare SF45/B]: ../sensor/sfxx_lidar.md
[LightWare SF02]: ../sensor/sfxx_lidar.md
[LightWare SF10/A]: ../sensor/sfxx_lidar.md
[LightWare SF10/B]: ../sensor/sfxx_lidar.md
[LightWare SF10/C]: ../sensor/sfxx_lidar.md
[MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez
[TeraRanger Evo 60 m]: ../sensor/teraranger.md
[TeraRanger Evo 600Hz]: ../sensor/teraranger.md
[TeraRanger One]: ../sensor/teraranger.md
These adaptors allows you to connect a non-CAN rangefinder via the CAN interface.
Note that the range depends on the connected rangefinder
| Adaptor | Connections | NDAA |
| ------------------------------------------------------- | ---------------- | ----------------- |
| **Avionics Anonymous UAVCAN Laser Altimeter Interface** | DroneCAN | ~ |
| [RaccoonLab Cyphal & DroneCAN Rangefinder Adapter] | DroneCAN, Cyphal | ~ |
[RaccoonLab Cyphal & DroneCAN µRANGEFINDER]: #raccoonlab-cyphal-and-dronecan-μrangefinder
[RaccoonLab Cyphal & DroneCAN Rangefinder Adapter]: #raccoonlab-cyphal-and-dronecan-rangefinder-adapter
Note that some [Optical Flow](../sensor/optical_flow.md) sensors also include a rangefinder, such as [ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md).
### ARK DIST SR & ARK DIST MR
[ARK DIST SR](../dronecan/ark_dist.md) and [ARK DIST MR](../dronecan/ark_dist_mr.md) are open-source Time-of-Flight (ToF) rangefinder modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
The sensors support [DroneCAN](../dronecan/index.md), run [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and are packed into a tiny form factor.
They can be connected to a flight controller via its `CAN1` port, allowing additional sensors to connected through the `CAN2` port.
### Holybro ST VL53L1X 激光雷达