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70 lines
3.9 KiB
Markdown
70 lines
3.9 KiB
Markdown
# Avionics Anonymous Laser Altimeter DroneCan Interface
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:::info
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In 2022, UAVCAN (v0) was forked and is maintained as `DroneCAN`.
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While this product still mentions "UAVCAN", it is fully compatible with PX4's DroneCAN support.
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:::
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The [Avionics Anonymous Laser Altimeter Interface](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/) allows a [number of common rangefinders](#supported_rangefinders) to be connected via the CAN bus (this is a more robust interface than I2C).
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## 구매처
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- [AvAnon Laser Interface](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/)
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<a id="supported_rangefinders"></a>
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## 지원되는 거리 측정기
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A full list of supported rangefinders can be found on the link above.
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At time of writing the following rangefinders are supported:
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- Lightware SF30/D
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- Lightware SF10/a
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- Lightware SF10/b
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- Lightware SF10/c
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- Lightware SF11/c
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- Lightware SF/LW20/b
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- Lightware SF/LW20/c
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## 하드웨어 설정
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### 배선
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The rangefinder (laser) is connected to the AvAnon interface board, which is connected to one of the CAN ports on your autopilot.
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The wiring is as per the pinout above, or the necessary cables can be purchased to connect to your system right out of the box.
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These are available at the links [here](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/).
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The interface board provides a filtered power output for the laser, but does not provide its own regulation.
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Therefore the laser must be compatible with whatever voltage is supplied to the board.
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### 핀배열
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### CAN Connector
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| 핀 | 명칭 | 설명 |
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| - | ----------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 1 | POWER_IN | Power Supply. 4.0-5.5V supported, but must also be compatible with connected laser. |
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| 2 | TX/SCL | TX for serial mode, Clock for I2C mode. |
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| 3 | RX/SDA | RX for serial mode, Data for I2C mode. |
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| 4 | GND | 신호/전원 접지. |
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### Laser Connector
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| 핀 | 명칭 | 설명 |
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| - | ------------------------------ | ------------------------------------------------------- |
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| 1 | POWER_OUT | Filtered power at the supply voltage. |
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| 2 | CAN+ | TX for serial mode, Clock for I2C mode. |
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| 3 | RX/SDA | RX for serial mode, Data for I2C mode. |
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| 4 | GND | 신호/전원 접지. |
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## PX4 설정
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To enable the laser altimeter you will need to [set the following parameters](../advanced_config/parameters.md) (in QGroundControl):
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- Enable DroneCAN by setting [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) non zero.
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- Enable DroneCAN rangefinder subscription by setting [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG)
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- Set the minimum and maximum range of the rangefinder using [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) and [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX).
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