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Prettier and minor fixes

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Hamish Willee
2025-12-01 09:20:17 -09:00
committed by Jacob Dahl
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commit e7be62a342
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docs/en/sensor/rangefinders.md
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@@ -15,17 +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.
:::
| Rangefinder | Technology | Range (min – max) | Connections | NDAA | Notes |
| ------------------------------------------- | --------------- | ------------------------ | ---------------------- | ---- | ----------------------------------- |
| [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 |
[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.
It can be connected to the flight controller via its CAN1 port, allowing additional sensors to connect through its CAN2 port.
It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.
### ARK Flow & AKR Flow MR
[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.
It can be connected to the flight controller via its CAN1 port, allowing additional sensors to connect through its CAN2 port.
It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.
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 Lidar