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98 lines
4.1 KiB
Markdown
98 lines
4.1 KiB
Markdown
# ARK DIST MR
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ARK DIST MR is a mid range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
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## 购买渠道
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Order this module from:
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- [ARK Electronics](https://arkelectron.com/product/ark-dist-mr/) (US)
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## Hardware Specifications
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- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
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- 传感器
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- [Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lx85d)
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- Typical distance range up to 50m
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- Integrated 850 nm laser light source
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- Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
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- Operation of up to 200k Lux ambient light
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- Reference Pixel for system health monitoring
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- Works well on all surface conditions
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- Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
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- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
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- Pixhawk Standard UART Connector (6 Pin JST SH)
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- Pixhawk Standard Debug Connector (6 Pin JST SH)
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- Small Form Factor
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- 2.0cm x 2.8cm x 1.4cm
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- 4g
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- LED Indicators
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- USA Built
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- NDAA Compliant
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- Power Requirements
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- 5v
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- 78mA Average
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- 84mA Max
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## 硬件安装
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### 布线
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The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
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For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
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The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
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## Firmware Setup
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ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
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As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
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## PX4 配置
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### DroneCAN
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#### Enable DroneCAN
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步骤如下：
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- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
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- Connect ARK DIST SR CAN to the Pixhawk CAN.
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Once enabled, the module will be detected on boot.
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Distance sensor data should arrive at 40Hz.
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DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
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#### CAN Configuration
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First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
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Set the following parameters in _QGroundControl_:
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- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
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- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
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- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
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- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
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- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
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- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
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See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
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### UART/MAVLink Configuration
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If connecting via a UART set the following parameters in _QGroundControl_:
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- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
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- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
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- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
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- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
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- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
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- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
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## 另见
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- [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
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