Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus.
The update rate is 16 readings per second, so don't poll the lidar faster than 32Hz. In practice lidar_sf11_periodic() can run at most at freq=32. The i2c address can be reconfigured.
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="lidar_sf11">
b'<configure name="LIDAR_SF11_I2C_DEV" value="i2c2" />\n '
b'<configure name="LIDAR_SF11_I2C_ADDR" value="0x50" />\n '
b'<configure name="USE_LIDAR_SF11_AGL" value="1" />\n '
b'<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" />\n '
</module>
Module configuration options
Configure Options
- name:
LIDAR_SF11_I2C_DEV
value: i2c2
Description: I2C device to use for lidar
- name:
LIDAR_SF11_I2C_ADDR
value: 0x50
Description: default slave address of lidar
- name:
USE_LIDAR_SF11_AGL
value: 1
Description: use this lidar for AGL measurements. On by deafult
- name:
LIDAR_SF11_COMPENSATE_ROTATION
value: 1
Description: compensate AGL measurements for body rotation
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
- lidar_sf11_downlink()
- Frequency in Hz: 4
- Autorun: FALSE
Periodic function is started by user command.
- lidar_sf11_periodic()
- Frequency in Hz: 32
- Autorun: LOCK
Periodic function automatically starts after init and can't be stopped.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw lidar_sf11.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="lidar_sf11" dir="lidar">
<doc>
<description>
Parallax SF11-A/B/C Laser Rangefinder connected over i2c bus.
The update rate is 16 readings per second, so don't poll the lidar faster than 32Hz.
In practice lidar_sf11_periodic() can run at most at freq=32.
The i2c address can be reconfigured.
</description>
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2" description="I2C device to use for lidar"/>
<configure name="LIDAR_SF11_I2C_ADDR" value="0x50" description="default slave address of lidar"/>
<configure name="USE_LIDAR_SF11_AGL" value="1" description="use this lidar for AGL measurements. On by deafult"/>
<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
</doc>
<settings>
<dl_settings NAME="Lidar SF11">
<dl_settings NAME="Lidar">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_sf11.compensate_rotation" shortname="derotate_agl"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="lidar_sf11.update_agl" shortname="update_agl"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c</depends>
<provides>sonar</provides>
</dep>
<header>
<file name="lidar_sf11.h"/>
</header>
<init fun="lidar_sf11_init()"/>
<periodic fun="lidar_sf11_downlink()" freq="4" autorun="FALSE"/>
<periodic fun="lidar_sf11_periodic()" freq="32"/>
<event fun="lidar_sf11_event()"/>
<makefile>
<configure name="LIDAR_SF11_I2C_DEV" default="i2c1" case="lower|upper"/>
<configure name="LIDAR_SF11_I2C_ADDR" default="0x50"/>
<configure name="USE_LIDAR_SF11_AGL" default="1"/>
<configure name="LIDAR_SF11_COMPENSATE_ROTATION" default="1"/>
<define name="LIDAR_SF11_I2C_DEV" value="$(LIDAR_SF11_I2C_DEV_LOWER)"/>
<define name="USE_$(LIDAR_SF11_I2C_DEV_UPPER)"/>
<define name="LIDAR_SF11_I2C_ADDR" value="$(LIDAR_SF11_I2C_ADDR)"/>
<define name="USE_LIDAR_SF11_AGL" value="$(USE_LIDAR_SF11_AGL)"/>
<define name="LIDAR_SF11_COMPENSATE_ROTATION" value="$(LIDAR_SF11_COMPENSATE_ROTATION)"/>
<file name="lidar_sf11.c"/>
</makefile>
<makefile target="nps">
<define name="USE_SONAR" value="1"/>
</makefile>
</module>