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Co-Authored-By: PX4 BuildBot <bot@px4.io>
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PX4BuildBot
@@ -40219,6 +40219,62 @@ The mode will switch from long to short range when the distance is less than the
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| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
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| | 1 | 50 | | 4 | m | |
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### SENS_ASDT1_CFG (`INT32`) {#SENS_ASDT1_CFG}
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Serial Configuration for Sony AS-DT1 Rangefinder.
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Configure on which serial port to run Sony AS-DT1 Rangefinder.
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**Values:**
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- `0`: Disabled
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- `6`: UART 6
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- `101`: TELEM 1
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- `102`: TELEM 2
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- `103`: TELEM 3
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- `104`: TELEM/SERIAL 4
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- `201`: GPS 1
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- `202`: GPS 2
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- `203`: GPS 3
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- `300`: Radio Controller
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- `301`: Wifi Port
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- `401`: EXT2
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | | | | 0 | | |
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### SENS_ASDT1_MODE (`INT32`) {#SENS_ASDT1_MODE}
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Distance measurement range.
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Sony AS-DT1 distance measurement range mode. The driver uses
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this mode to configure the sensor and publish matching
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obstacle_distance metadata.
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**Values:**
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- `0`: 30MSTD
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- `1`: 30M15F
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- `2`: 30M30F
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- `3`: 20M
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- `4`: 40M
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | 0 | 4 | | 0 | | |
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### SENS_ASDT1_ROT (`FLOAT`) {#SENS_ASDT1_ROT}
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Sensor yaw offset.
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Yaw angle offset of the Sony AS-DT1 sensor relative to the
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vehicle forward direction. Positive values are clockwise.
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | -360 | 360 | | 0 | deg | |
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### SENS_BAHRS_CFG (`INT32`) {#SENS_BAHRS_CFG}
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Serial Configuration for EULER-NAV BAHRS.
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@@ -40332,62 +40388,6 @@ This parameter defines the rotation of the FMU board relative to the platform.
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | -1 | 40 | | 0 | | |
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### SENS_ASDT1_CFG (`INT32`) {#SENS_ASDT1_CFG}
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Serial Configuration for Sony AS-DT1 Rangefinder.
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Configure on which serial port to run Sony AS-DT1 Rangefinder.
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**Values:**
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- `0`: Disabled
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- `6`: UART 6
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- `101`: TELEM 1
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- `102`: TELEM 2
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- `103`: TELEM 3
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- `104`: TELEM/SERIAL 4
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- `201`: GPS 1
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- `202`: GPS 2
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- `203`: GPS 3
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- `300`: Radio Controller
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- `301`: Wifi Port
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- `401`: EXT2
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | | | | 0 | | |
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### SENS_ASDT1_MODE (`INT32`) {#SENS_ASDT1_MODE}
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Distance measurement range.
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Sony AS-DT1 distance measurement range mode. The driver uses
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this mode to configure the sensor and publish matching
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obstacle_distance metadata.
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**Values:**
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- `0`: 30MSTD
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- `1`: 30M15F
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- `2`: 30M30F
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- `3`: 20M
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- `4`: 40M
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | 0 | 4 | | 0 | | |
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### SENS_ASDT1_ROT (`FLOAT`) {#SENS_ASDT1_ROT}
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Sensor yaw offset.
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Yaw angle offset of the Sony AS-DT1 sensor relative to the
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vehicle forward direction. Positive values are clockwise.
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| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
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| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
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| ✓ | -360 | 360 | | 0 | deg | |
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### SENS_BOARD_X_OFF (`FLOAT`) {#SENS_BOARD_X_OFF}
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Board rotation X (roll) offset.
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@@ -114,7 +114,7 @@ This flight controller supports up to 8 FMU PWM outputs (`MAIN`).
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The 8 outputs are in 3 groups:
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- Outputs 1-4 in group1 (Timer1)
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- Outputs 1-4 in group1 (Timer1)
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- Outputs 5-6 in group2 (Timer4)
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- Outputs 7-8 in group3 (Timer12)
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@@ -391,25 +391,12 @@ Source: [drivers/distance_sensor/sony](https://github.com/PX4/PX4-Autopilot/tree
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Sony AS-DT1 serial driver. The driver probes 921600 and 115200 baud, configures
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the sensor for binary streaming, and publishes multipoint distance measurements.
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Setup/usage information: https://docs.px4.io/main/en/sensor/sony_asdt1.html
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### Examples
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Attempt to start driver on a specified serial device.
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```
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sony_asdt1 start -d /dev/ttyS4
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```
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Print the sensor's saved configuration without starting measurements.
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```
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sony_asdt1 start -d /dev/ttyS4 -s
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```
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Stop driver.
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```
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sony_asdt1 status
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sony_asdt1 stop
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```
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@@ -420,8 +407,7 @@ sony_asdt1 <command> [arguments...]
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Commands:
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start Start driver
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-d <val> Serial device
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[-s] Send flshow and print response instead of starting
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measurements
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[-s] Send flshow and print response instead of starting measurements
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stop Stop driver
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@@ -36,12 +36,12 @@ Connect the sensor TX/RX pins to the flight controller UART and share ground bet
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| AS-DT1 8-pin Connector | Function | Connect To |
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| ---------------------- | -------------------- | ---------------------------------- |
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| Pin 1 | GND | External power ground and flight controller serial GND |
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| Pin 2 | VCC | External 12 V to 24 V power supply |
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| Pin 5 | UART TX | Flight controller serial RX |
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| Pin 6 | UART RX | Flight controller serial TX |
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| AS-DT1 8-pin Connector | Function | Connect To |
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| ---------------------- | -------- | ------------------------------------------------------ |
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| Pin 1 | GND | External power ground and flight controller serial GND |
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| Pin 2 | VCC | External 12 V to 24 V power supply |
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| Pin 5 | UART TX | Flight controller serial RX |
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| Pin 6 | UART RX | Flight controller serial TX |
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The ground from AS-DT1 pin 1 must be common to both the external power supply and the flight controller serial port.
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For example, splice or split the AS-DT1 ground wire so it connects to the power supply negative terminal and to the flight controller UART `GND` pin.
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@@ -66,11 +66,11 @@ Use the Sony application to set the sensor to **Measurement (UART)** mode before
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The driver uses the following parameters:
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| Parameter | Description |
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| --------- | ----------- |
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| [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG) | Selects the serial port and enables driver autostart on boot. |
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| [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE) | Selects the AS-DT1 measurement range mode. The driver configures the sensor mode and publishes matching `obstacle_distance` metadata. |
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| [SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) | Sets the sensor yaw offset, in degrees, relative to vehicle forward. This is published as `obstacle_distance.angle_offset`; positive values are clockwise. |
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| Parameter | Description |
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| ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG) | Selects the serial port and enables driver autostart on boot. |
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| [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE) | Selects the AS-DT1 measurement range mode. The driver configures the sensor mode and publishes matching `obstacle_distance` metadata. |
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| [SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) | Sets the sensor yaw offset, in degrees, relative to vehicle forward. This is published as `obstacle_distance.angle_offset`; positive values are clockwise. |
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`SENS_ASDT1_MODE` and `SENS_ASDT1_ROT` may not appear until `SENS_ASDT1_CFG` is enabled and the flight controller has rebooted once.
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