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42 lines
1.6 KiB
Markdown
42 lines
1.6 KiB
Markdown
# TeraRanger Rangefinders
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TeraRanger provide a number of lightweight distance measurement sensor 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:
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- [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m)
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- [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m)
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::: info
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PX4 also supports _TeraRanger One_ (I2C adapter required).
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This has been discontinued.
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:::
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## Where to Buy
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- TBD
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## Pinouts
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## Wiring
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All TeraRanger sensors must be connected via the I2C bus.
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## Software Configuration
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The sensors are enabled using the parameter [SENS_EN_TRANGER](../advanced_config/parameter_reference.md#SENS_EN_TRANGER) (you can set the type of sensor or that PX4 should auto-detect the type).
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::: info
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If using auto-detect for Evo sensors the minimum and maximum values for the range are set to the lowest and highest possible readings across the Evo family (currently 0.5 - 60 m).
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In order to use the correct max/min values the appropriate model of the Evo sensor should be set in the parameter (instead of using autodetect).
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:::
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:::tip
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The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (`distance_sensor/teraranger`) to the board configuration.
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:::
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## Further Information
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- [Modules Reference: Distance Sensor (Driver) : teraranger](../modules/modules_driver_distance_sensor.md#teraranger)
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