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97 lines
6.8 KiB
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97 lines
6.8 KiB
Markdown
# LightWare Lidar (SF1X/SF02/LW20/SF45)
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LightWare develops a range of light-weight, general purpose, laser altimeters ("Lidar") suitable for mounting on UAVs.
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These are useful for applications including terrain following, precision hovering (e.g. for photography), warning of regulatory height limits, anti-collision sensing etc.
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<img src="../../assets/hardware/sensors/lidar_lightware/sf11c_120_m.jpg" width="350px" alt="LightWare SF11/C Lidar"/>
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## Supported Models
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The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
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| Model | Range (m) | Bus | 描述 |
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| ------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
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| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
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| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
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| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
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| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
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| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder |
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| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder |
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:::details
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Discontinued
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The following models are supported by PX4 but are no longer available from the manufacturer.
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| Model | 范围 | Bus | |
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| --------------------------------------------------------------------------------------------------- | ---- | ------------- | ---------------------------------------------------------------------------------- |
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| [SF02](https://documents.lightware.co.za/SF02%20-%20Laser%20Rangefinder%20Manual%20-%20Rev%208.pdf) | 50 | Serial | |
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| [SF10/A](https://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 25 | Serial or I2C | |
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| [SF10/B](https://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 50 | Serial or I2C | |
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| SF10/C | 100m | Serial or I2C | |
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| LW20/B | 50 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
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:::
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## I2C Setup
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Check the tables above to confirm that which models can be connected to the I2C port.
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### Lidar Configuration (SF11/C)
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The SF11/C hardware (only) does not ship with Pixhawk I2C compatibility enabled by default.
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To enable support, you have to download [LightWare Studio](https://lightwarelidar.com/pages/lightware-studio) and got to **Parameters > Communication** and tick mark **I2C compatibility mode (Pixhawk)**
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This step is not required for the other supported Lightware rangefinders.
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### 硬件
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Connect the Lidar the autopilot I2C port as shown below (in this case, for the [Pixhawk 1](../flight_controller/mro_pixhawk.md)).
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:::info
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Some older revisions cannot be used with PX4.
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Specifically they may be miss-configured to have an I2C address equal to `0x55`, which conflicts with `rgbled` module.
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On Linux systems you may be able to determine the address using [i2cdetect](https://linux.die.net/man/8/i2cdetect).
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If the I2C address is equal to `0x66` the sensor can be used with PX4.
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:::
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### Parameter Setup {#i2c_parameter_setup}
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Set the [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) parameter to match the rangefinder model and then reboot.
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VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_reference.md#SF1XX_MODE) to `2: Disabled during VTOL fast forward flight`.
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## Serial Setup {#serial_hardware_setup}
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:::tip
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[SF45/B](../sensor/sf45_rotating_lidar.md) setup is covered in the linked document.
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:::
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### 硬件
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The lidar can be connected to any unused _serial port_ (UART), e.g.: TELEM2, TELEM3, GPS2 etc.
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<!-- Would be good to show serial setup! -->
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### Parameter Setup {#serial_parameter_setup}
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[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG).
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There is no need to set the baud rate for the port, as this is configured by the driver.
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:::info
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If the configuration parameter is not available in _QGroundControl_ then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware).
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:::
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Then set the [SENS_EN_SF0X](../advanced_config/parameter_reference.md#SENS_EN_SF0X) parameter to match the rangefinder model and reboot.
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VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_reference.md#SF1XX_MODE) to `2: Disabled during VTOL fast forward flight`.
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## 更多信息
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- [Modules Reference: Distance Sensor (Driver) : lightware_laser_i2c](../modules/modules_driver_distance_sensor.md#lightware-laser-i2c)
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- [Modules Reference: Distance Sensor (Driver) : lightware_laser_serial](../modules/modules_driver_distance_sensor.md#lightware-laser-serial)
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