Parameters
BRD_PWM_COUNT = 4
RNGFND_TYPE = 5 # PWM Driver. Set this to 4 if connected via I2C
RNGFND_PIN = 54 # PWM input on Pixhawk AUX5
RNGFND_RMETRIC = 1 # Set this to 0 for SF/02
RNGFND_SCALING = 1
RNGFND_MIN_CM = 20
RNGFND_MAX_CM = 4000
RNGFND_OFFSET = 0
RNGFND_GNDCLEAR = 10 # If Lidar lense is located 10 cm from the ground. This should be at least 20cm.
RNGFND_STOP_PIN = -1 # Don't use this, unless you really need to minimize power consumption or if your Lidar keep freezing. This will reset the unit if there's no reading.
# If you have Terrain Data available via GCS and want to conserve battery
RNGFND_STOP_PIN = 55 # Pixhawk AUX6 (Optional)
RNGFND_PWRRNG = 20 # Put Lidar to sleep above 20m
EK2_ALT_SOURCE = 1 # Use Range Finder for altitude measurement when using OpticalFlow. Set this to 0 for baro, 2 for GPS.
# On master (Copter 3.4-rc)
EK2_RNG_USE_HGT = 50 # 0 to 100%. Only use it while flying slowly. Default is -1 which disables using RangeFinder as height source.
Vcc
- Make sure your BEC power supply to the servo rail is very clean and stable. It should NEVER go below 5V, or it will give a constant 13m offset error.