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70 lines
3.9 KiB
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70 lines
3.9 KiB
Markdown
# Lightware GRF250/GRF500 Gimbal Lidar
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LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
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::: info
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The Lidar driver is not included in the default build of PX4.
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You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
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:::
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## Where to Buy
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Order these modules from:
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- [GRF250](https://lightwarelidar.com/shop/grf-250/)
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- [GRF500](https://lightwarelidar.com/shop/grf-500/)
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## Hardware Setup
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The rangefinder can be connected to any unused serial port, such as `TELEM2`.
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[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
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## PX4 Setup
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### Add the Driver to the PX4 Build
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The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
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In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
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1. Update the firmware configuration. You can use either of the following options:
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- Menuconfig:
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1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
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2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
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3. Select/Enable `lightware_grf_serial`
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4. Save the configuration
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- Manually update `default.px4` to include the configuration key:
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1. Open the `default.px4board` config file that corresponds to the board you want to build for.
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For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
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2. Add the following line and save the file:
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```txt
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CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
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```
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2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
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### Parameter Configuration
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You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
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The [parameters to change](../advanced_config/parameters.md) are listed in the table.
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------- |
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| <a id="SENS_EN_GRF_CFG"></a>[SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
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| <a id="GRF_RATE_CFG"></a>[GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. |
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| <a id="GRF_SENS_MODEL"></a>[GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL) | Set the sensor model to use. |
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## Testing
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You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
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Moving the sensor around at various distances from a surface will have the `current_distance` value change.
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## Troubleshooting
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If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)
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