lidar_tfmini_i2c
The TF Mini LiDAR is an unidirectional range finder based on time-of-flight (ToF) via IR LED technology. It uses adaptive algorithms for indoor and outdoor application environment. The sensor can be used as a distance-measuring tool to detect the distance to surfaces, suitable for AGL hold and terrain following. The maximum detection distance is 12 meters. The device supports 100Hz sampling rate. To be able to use the I2C version of the TFmini ranger, enable this module in your airframe and set you wanted parameters.
Name |
Value |
Description |
---|---|---|
TFMINI_I2C_DEV |
i2c2 |
I2C device port on flightcontroller to use for this device |
TFMINI_I2C_ADDR |
0x20 |
Other than default I2C Slave address 0x10 to use for the device |
USE_TFMINI_I2C_AGL |
0 |
Updates the AGL value in state,if not defined, defaults to FALSE |
TFMINI_I2C_COMPENSATE_ROTATION |
1 |
Compensate AGL measurements for body rotation. Disabled by default |
Name |
Value |
Description |
---|---|---|
TFMINI_I2C_USE_FILTER |
TRUE |
If this is line is added one enables a median filter on the sensor output, not needed in normal use |
AGL_LIDAR_TFMINI_I2C_ID |
254 |
Set own ID if using both U, S and I version of sensor at the same time |
TFMINI_I2C_OFFSET |
0.56 |
Sensor offset in CM, as in where one wants zero to be, default is 0.0 |
TFMINI_I2C_MIN_RANGE |
0.44 |
If defined, set limit to minimum value reported, default 0.3 |
TFMINI_I2C_MAX_RANGE |
3.0 |
If defined, set limit to maximum value reported, default 6.0 |
TFMINI_I2C_MEDIAN_SIZE |
9 |
If median filter is enabled then set this option to filter the output more(or less), default is 7 |
SENSOR_SYNC_SEND_SONAR |
If defined, sends raw and scaled ranging values, useful for debugging sensor issues |
Depends
- i2c
Provides
- sonar