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315 lines
21 KiB
Markdown
315 lines
21 KiB
Markdown
# 거리 센서 (거리 측정기)
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Distance sensors provide distance measurement that can be used for [terrain following](../flying/terrain_following_holding.md#terrain_following), [terrain holding](../flying/terrain_following_holding.md#terrain_hold) (i.e. precision hovering for photography), improved landing behaviour ([conditional range aid](../advanced_config/tuning_the_ecl_ekf.md#conditional-range-aiding)), warning of regulatory height limits, collision prevention, etc.
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This section lists the distance sensors supported by PX4 (linked to more detailed documentation), and provides information about the [generic configuration](#configuration) required for all rangefinders, [testing](#testing), and simulation with [Gazebo](#gazebo-simulation) or [Gazebo-Classic](#gazebo-classic-simulation).
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보다 자세한 설정과 정보는 아래 링크(및 사이드 바)를 참고하십시오.
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<img src="../../assets/hardware/sensors/lidar_lite/lidar_lite_v3.jpg" alt="Lidar Lite V3" width="200px" /><img src="../../assets/hardware/sensors/lidar_lightware/sf11c_120_m.jpg" alt="LightWare SF11/C Lidar" width="200px" /><img src="../../assets/hardware/sensors/optical_flow/ark_flow_distance_sensor.jpg" alt="ARK Flow" width="200px">
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## 지원되는 거리 측정기
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:::tip
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This is a subset of the rangefinders that can be used with PX4.
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[Modules: Distance Sensors](../modules/modules_driver_distance_sensor.md) lists PX4 drivers for other non-CAN rangefinders.
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There may also be other DroneCAN rangefinders than those listed here.
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:::
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| Rangefinder | Technology | Range (min – max) | 연결 | NDAA | 참고 |
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| ------------------------------------------------------------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------- | ----------------------------------------- | ----------------- | ------------------------------------------------------ |
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| [Ainstein US-D1 Standard Radar Altimeter] | Microwave radar | ~50 m | UART | ✔️ | |
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| [ARK DIST SR] | ToF (850 nm IR) | 8 cm to ~30 m | DroneCAN, UART | ✔️ | |
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| [ARK DIST MR] | ToF (IR) | 8 cm to ~50 m | DroneCAN, UART | ✔️ | |
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| [Benewake TFmini] | ToF (IR laser) | ~12 m | UART | ~ | |
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| [Holybro ST VL53L1X Lidar] | ToF (IR) | up to ~4 m | I2C | ~ | |
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| [LeddarOne] | ToF (IR) | 1 cm – 40 m | UART | ~ | |
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| [Lidar-Lite] | ToF (IR laser) | 5 cm – 40 m | I2C, PWM | ~ | |
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| [LightWare SF11/C] | ToF (IR laser) | up to ~120 m | UART, I2C | ~ | |
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| [LightWare LW20/C] | ToF (IR laser) | up to ~100 m | I2C | ~ | Waterproof (IP67) + servo |
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| [LightWare SF45/B] | ToF (IR laser) | ~50 m | UART | ~ | Rotary lidar (collision prevention) |
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| [MaxBotix I2CXL-MaxSonar-EZ] | Ultrasonic | | I2C | ~ | |
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| [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR) | ~0.1 m – ~8 m | DroneCAN, Cyphal | ~ | |
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| [TeraRanger Evo 60 m] | ToF (IR) | 0.5 m – 60 m | I2C | ~ | |
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| [TeraRanger Evo 600Hz] | ToF (IR) | 0.75 m – 8 m | I2C | ~ | High update rate (600 Hz) |
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| [LightWare SF02] _(disc.)_ | ToF (IR laser) | ~50 m | UART | ~ | Discontinued |
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| [LightWare SF10/A] _(disc.)_ | ToF (IR laser) | ~25 m | UART, I2C | ~ | Discontinued |
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| [LightWare SF10/B] _(disc.)_ | ToF (IR laser) | ~50 m | UART, I2C | ~ | Discontinued |
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| [LightWare SF10/C] _(disc.)_ | ToF (IR laser) | ~100 m | UART, I2C | ~ | Discontinued |
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| [Lanbao PSK-CM8JL65-CC5] _(disc.)_ | ToF (IR) | 0.17 m – 8 m | UART | ✖️ | Discontinued |
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| [TeraRanger One] _(disc.)_ | ToF (IR) | ~0.2 m – ~14 m (typical) | I2C (adapter required) | ~ | Discontinued |
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[Ainstein US-D1 Standard Radar Altimeter]: ../sensor/ulanding_radar.md
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[ARK DIST SR]: ../dronecan/ark_dist.md
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[ARK DIST MR]: ../dronecan/ark_dist_mr.md
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[Benewake TFmini]: ../sensor/tfmini.md
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[Holybro ST VL53L1X Lidar]: #holybro-st-vl53l1x-lidar
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[Lanbao PSK-CM8JL65-CC5]: ../sensor/cm8jl65_ir_distance_sensor.md
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[LeddarOne]: ../sensor/leddar_one.md
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[Lidar-Lite]: ../sensor/lidar_lite.md
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[LightWare Lidar]: ../sensor/sfxx_lidar.md
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[LightWare SF11/C]: ../sensor/sfxx_lidar.md
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[LightWare LW20/C]: ../sensor/sfxx_lidar.md
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[LightWare SF45/B]: ../sensor/sfxx_lidar.md
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[LightWare SF02]: ../sensor/sfxx_lidar.md
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[LightWare SF10/A]: ../sensor/sfxx_lidar.md
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[LightWare SF10/B]: ../sensor/sfxx_lidar.md
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[LightWare SF10/C]: ../sensor/sfxx_lidar.md
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[MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez
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[TeraRanger Evo 60 m]: ../sensor/teraranger.md
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[TeraRanger Evo 600Hz]: ../sensor/teraranger.md
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[TeraRanger One]: ../sensor/teraranger.md
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These adaptors allows you to connect a non-CAN rangefinder via the CAN interface.
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Note that the range depends on the connected rangefinder
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| Adaptor | 연결 | NDAA |
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| ------------------------------------------------------- | ---------------- | ----------------- |
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| **Avionics Anonymous UAVCAN Laser Altimeter Interface** | DroneCAN | ~ |
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| [RaccoonLab Cyphal & DroneCAN Rangefinder Adapter] | DroneCAN, Cyphal | ~ |
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[RaccoonLab Cyphal & DroneCAN µRANGEFINDER]: #raccoonlab-cyphal-and-dronecan-μrangefinder
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[RaccoonLab Cyphal & DroneCAN Rangefinder Adapter]: #raccoonlab-cyphal-and-dronecan-rangefinder-adapter
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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).
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### ARK DIST SR & ARK DIST MR
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[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.
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The sensors support [DroneCAN](../dronecan/index.md), run [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and are packed into a tiny form factor.
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They can be connected to a flight controller via its `CAN1` port, allowing additional sensors to connected through the `CAN2` port.
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### Holybro ST VL53L1X Lidar
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The [VL53L1X](https://holybro.com/products/st-vl53l1x-lidar) is a state-of-the-art, Time-of-Flight (ToF), laser-ranging sensor, enhancing the ST FlightSense™ product family.
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최대 4m의 정확한 범위와 최대 50Hz의 빠른 범위 주파수를 제공하는 시장에서 가장 빠른 소형 ToF 센서입니다.
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It comes with a JST GHR 4 pin connector that is compatible with the I2C port on [Pixhawk 4](../flight_controller/pixhawk4.md), [Pixhawk 5X](../flight_controller/pixhawk5x.md), and other flight controllers that follow the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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### Lidar-Lite
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[Lidar-Lite](../sensor/lidar_lite.md) is a compact, high-performance optical distant measurement rangefinder.
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It has a sensor range from (5cm - 40m) and can be connected to either PWM or I2C ports.
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### MaxBotix I2CXL-MaxSonar-EZ
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The MaxBotix [I2CXL-MaxSonar-EZ](https://maxbotix.com/collections/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
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These can be connected using an I2C port.
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The rangefinders are enabled using the parameter [SENS_EN_MB12XX](../advanced_config/parameter_reference.md#SENS_EN_MB12XX).
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### Lightware LIDARs
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[Lightware SFxx Lidar](../sensor/sfxx_lidar.md) provide a broad range of lightweight “laser altimeters” that are suitable for many drone applications.
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PX4 supports: SF11/c and SF/LW20.
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PX4 can also be used with the following discontinued models: SF02, SF10/a, SF10/b, SF10/c.
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Others may be supported via the [RaccoonLab Cyphal and DroneCAN Rangefinder Adapter](#raccoonlab-cyphal-and-dronecan-rangefinder-adapter) described below.
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PX4 also supports the [LightWare LiDAR SF45 Rotating Lidar](../sensor/sf45_rotating_lidar.md) for [collision prevention](../computer_vision/collision_prevention.md) applications.
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### TeraRanger 거리계
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[TeraRanger](../sensor/teraranger.md) provide a number of lightweight distance measurement sensors based on infrared Time-of-Flight (ToF) technology.
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They are typically faster and have greater range than sonar, and smaller and lighter than laser-based systems.
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PX4 supports the following models connected via the I2C bus: TeraRanger One, TeraRanger Evo 60m and TeraRanger Evo 600Hz.
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### Ainstein US-D1 Standard Radar Altimeter
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The _Ainstein_ [US-D1 Standard Radar Altimeter](../sensor/ulanding_radar.md) is compact microwave rangefinder that has been optimised for use on UAVs.
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It has a sensing range of around 50m.
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A particular advantages of this product are that it can operate effectively in all weather conditions and over all terrain types (including water).
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### LeddarOne
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[LeddarOne](../sensor/leddar_one.md) is small Lidar module with a narrow, yet diffuse beam that offers excellent overall detection range and performance, in a robust, reliable, cost-effective package.
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감지 범위는 1cm ~ 40m이며 UART/직렬 버스로 연결합니다.
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### TFmini
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The [Benewake TFmini Lidar](../sensor/tfmini.md) is a tiny, low cost, and low power LIDAR with 12m range.
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### PSK-CM8JL65-CC5
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<Badge type="info" text="Discontinued" />
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The [Lanbao PSK-CM8JL65-CC5 ToF Infrared Distance Measuring Sensor](../sensor/cm8jl65_ir_distance_sensor.md) is a very small (38 mm x 18mm x 7mm, <10g) IR distance sensor with a 0.17m-8m range and millimeter resolution.
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UART/직렬 버스에 연결됩니다.
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### Avionics Anonymous UAVCAN Laser Altimeter Interface
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The [Avionics Anonymous UAVCAN Laser Altimeter Interface](../dronecan/avanon_laser_interface.md) allows several common rangefinders (e.g. [Lightware SF11/c, SF30/D](../sensor/sfxx_lidar.md), etc) to be connected to the [CAN](../can/index.md) bus via [DroneCAN](../dronecan/index.md), a more robust interface than I2C.
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### RaccoonLab Cyphal and DroneCAN Rangefinder Adapter
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The [RaccoonLab Cyphal and DroneCAN Rangefinder Adapter](https://raccoonlab.co/tproduct/360882105-910084093051-cyphal-and-dronecan-rangefinder-adapter) allows several common rangefinders to be connected to the CAN bus via Cyphal or DroneCAN, providing a more robust interface than I2C or UART.
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This adapter efficiently reads measurements via I2C or UART and publishes range data in meters, making it a versatile solution for UAVs, robotics, and technical documentation applications.
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Supported rangefinders include:
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- LightWare LW20/C
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- TF-Luna
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- Garmin Lite V3
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- VL53L1CB
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### RaccoonLab Cyphal and DroneCAN µRANGEFINDER
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[RaccoonLab µRANGEFINDER](https://docs.raccoonlab.co/guide/rangefinder/uRANGEFINDER.html) is designed to measure distance and publish it via Cyphal/DroneCAN protocols.
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It can be used to estimate precision landing or object avoidance.
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Features:
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- [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor
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- Input voltage sensor
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- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://docs.raccoonlab.co/guide/wires/).
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## Configuration/Setup {#configuration}
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Rangefinders are usually connected to either a serial (PWM) or I2C port (depending on the device driver), and are enabled on the port by setting a particular parameter.
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The hardware and software setup that is _specific to each distance sensor_ is covered in their individual topics.
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The generic configuration that is _common to all distance sensors_, covering both the physical setup and usage, is given below.
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### Generic Configuration
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The common rangefinder configuration is specified using [EKF2_RNG\_\*](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) parameters.
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These include (non exhaustively):
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- [EKF2_RNG_POS_X](../advanced_config/parameter_reference.md#EKF2_RNG_POS_X), [EKF2_RNG_POS_Y](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Y), [EKF2_RNG_POS_Z](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Z) - offset of the rangefinder from the vehicle centre of gravity in X, Y, Z directions.
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- [EKF2_RNG_PITCH](../advanced_config/parameter_reference.md#EKF2_RNG_PITCH) - A value of 0 degrees (default) corresponds to the range finder being exactly aligned with the vehicle vertical axis (i.e. straight down), while 90 degrees indicates that the range finder is pointing forward.
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Simple trigonometry is used to calculate the distance to ground if a non-zero pitch is used.
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- [EKF2_RNG_DELAY](../advanced_config/parameter_reference.md#EKF2_RNG_DELAY) - approximate delay of data reaching the estimator from the sensor.
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- [EKF2_RNG_SFE](../advanced_config/parameter_reference.md#EKF2_RNG_SFE) - Range finder range dependent noise scaler.
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- [EKF2_RNG_NOISE](../advanced_config/parameter_reference.md#EKF2_RNG_NOISE) - Measurement noise for range finder fusion
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## 시험
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The easiest way to test the rangefinder is to vary the range and compare to the values detected by PX4.
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The sections below show some approaches to getting the measured range.
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### QGroundControl MAVLink Inspector
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The _QGroundControl MAVLink Inspector_ lets you view messages sent from the vehicle, including `DISTANCE_SENSOR` information from the rangefinder.
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The main difference between the tools is that the _Analyze_ tool can plot values in a graph.
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:::info
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The messages that are sent depend on the vehicle configuration.
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You will only get `DISTANCE_SENSOR` messages if the connected vehicle has a rangefinder installed and is publishing sensor values.
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:::
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To view the rangefinder output:
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1. Open the menu **Q > Select Tool > Analyze Tools**:
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2. Select the message `DISTANCE_SENSOR`, and then check the plot checkbox against `current_distance`.
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The tool will then plot the result:
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### QGroundControl MAVLink Console
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You can also use the _QGroundControl MAVLink Console_ to observe the `distance_sensor` uORB topic:
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```sh
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listener distance_sensor 5
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```
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:::info
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The _QGroundControl MAVLink Console_ works when connected to Pixhawk or other NuttX targets, but not the Simulator.
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On the Simulator you can run the commands directly in the terminal.
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:::
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For more information see: [Development > Debugging/Logging > Sensor/Topic Debugging using the Listener Command](../debug/sensor_uorb_topic_debugging.md).
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## 시뮬레이션
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### Gazebo Simulation
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Lidar and sonar rangefinders can be used in the [Gazebo](../sim_gazebo_gz/index.md) simulator.
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To do this you must start the simulator using a vehicle model that includes the rangefinder.
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Downward facing sensors that write to the [DistanceSensor](../msg_docs/DistanceSensor.md) UORB topic can be used to test use cases such as [landing](../flight_modes_mc/land.md) and [terrain following](../flying/terrain_following_holding.md):
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- [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing)
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```sh
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make px4_sitl gz_x500_lidar_down
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```
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Front-facing sensors that write to [ObstacleDistance](../msg_docs/ObstacleDistance.md) can be used to test [Collision Prevention](../computer_vision/collision_prevention.md#gazebo-simulation):
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- [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)
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```sh
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make px4_sitl gz_x500_lidar_2d
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```
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- [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing)
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```sh
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make px4_sitl gz_x500_lidar_front
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```
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### Gazebo-Classic Simulation
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Lidar and sonar rangefinders can be used in the [Gazebo Classic](../sim_gazebo_classic/index.md) simulator.
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To do this you must start the simulator using a vehicle model that includes the rangefinder.
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The iris optical flow model includes a Lidar rangefinder:
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```sh
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make px4_sitl gazebo-classic_iris_opt_flow
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```
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The typhoon_h480 includes a sonar rangefinder:
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```sh
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make px4_sitl gazebo-classic_typhoon_h480
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```
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If you need to use a different vehicle you can include the model in its configuration file.
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You can see how in the respective Iris and Typhoon configuration files:
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- [iris_opt_flow.sdf](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/models/iris_opt_flow/iris_opt_flow.sdf)
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```xml
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<include>
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<uri>model://lidar</uri>
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<pose>-0.12 0 0 0 3.1415 0</pose>
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</include>
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<joint name="lidar_joint" type="revolute">
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<child>lidar::link</child>
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<parent>iris::base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<upper>0</upper>
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<lower>0</lower>
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</limit>
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</axis>
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</joint>
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```
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- [typhoon_h480.sdf](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/models/typhoon_h480/typhoon_h480.sdf.jinja#L1131-L1145)
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```xml
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<include>
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<uri>model://sonar</uri>
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</include>
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<joint name="sonar_joint" type="revolute">
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<child>sonar_model::link</child>
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<parent>typhoon_h480::base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<upper>0</upper>
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<lower>0</lower>
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</limit>
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</axis>
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</joint>
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```
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