feat(drivers): add Sony AS-DT1 distance sensor driver (#27769)

* Add Sony AS-DT1 Distance Sensor and Documentation * Ensuring Rotation Parameter works * Sony ASDT1 Sensor and Documentaiton * Fixed formatting and added additional comments * Forgot to stage 1 formatting issue * fix(drivers): use AS-DT1 parameters consistently remove the Sony-ASDT1 -R command line rotation, as well as some other small fixes. Updated the docs to reflect this as well. * refactor(drivers): clarify Sony AS-DT1 variable names --------- Co-authored-by: Sean Hickey <sean@ascendengineer.com> Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
2026-07-24 15:27:41 +08:00 · 2026-06-29 16:33:20 -05:00
parent e895f43792
commit a1d8a605e8
15 changed files with 2361 additions and 5 deletions
--- a/boards/px4/fmu-v6xrt/default.px4board
+++ b/boards/px4/fmu-v6xrt/default.px4board
@@ -18,8 +18,9 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_SONY_ASDT1=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
@@ -35,8 +36,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -56,14 +55,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -84,7 +84,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -118,3 +117,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_IMXRT=y
--- a/docs/assets/hardware/sensors/sony_asdt1/asdt1_uart_wiring.svg
+++ b/docs/assets/hardware/sensors/sony_asdt1/asdt1_uart_wiring.svg
@@ -0,0 +1,55 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="980" height="430" viewBox="0 0 980 430" role="img" aria-labelledby="title desc">
+  <title id="title">Sony AS-DT1 UART wiring to flight controller and external power</title>
+  <desc id="desc">AS-DT1 pin 2 connects to external power positive, pin 1 connects to both external power ground and flight controller serial ground, pin 5 UART TX connects to flight controller RX, and pin 6 UART RX connects to flight controller TX.</desc>
+  <defs>
+    <marker id="arrow" viewBox="0 0 10 10" refX="9" refY="5" markerWidth="8" markerHeight="8" orient="auto-start-reverse">
+      <path d="M 0 0 L 10 5 L 0 10 z" fill="#e5e7eb"/>
+    </marker>
+    <style>
+      .box { fill: #111827; stroke: #e5e7eb; stroke-width: 2; rx: 8; }
+      .title { font: 700 22px sans-serif; fill: #ffffff; }
+      .label { font: 16px sans-serif; fill: #f9fafb; }
+      .small { font: 14px sans-serif; fill: #d1d5db; }
+      .pin { font: 15px monospace; fill: #ffffff; }
+      .wire-power { stroke: #dc2626; stroke-width: 4; fill: none; marker-end: url(#arrow); }
+      .wire-ground { stroke: #d1d5db; stroke-width: 4; fill: none; marker-end: url(#arrow); }
+      .wire-tx { stroke: #60a5fa; stroke-width: 4; fill: none; marker-end: url(#arrow); }
+      .wire-rx { stroke: #34d399; stroke-width: 4; fill: none; marker-end: url(#arrow); }
+      .node { fill: #d1d5db; }
+    </style>
+  </defs>
+
+  <rect x="45" y="75" width="250" height="275" class="box"/>
+  <text x="70" y="115" class="title">Sony AS-DT1</text>
+  <text x="70" y="150" class="small">8-pin JST-GH connector</text>
+  <text x="70" y="195" class="pin">Pin 1  GND</text>
+  <text x="70" y="235" class="pin">Pin 2  VCC 12-24V</text>
+  <text x="70" y="275" class="pin">Pin 5  UART TX</text>
+  <text x="70" y="315" class="pin">Pin 6  UART RX</text>
+
+  <rect x="675" y="70" width="250" height="140" class="box"/>
+  <text x="700" y="110" class="title">External Power</text>
+  <text x="700" y="150" class="pin">+ 12-24V</text>
+  <text x="700" y="185" class="pin">- GND</text>
+
+  <rect x="675" y="245" width="250" height="145" class="box"/>
+  <text x="700" y="290" class="title">Flight Controller</text>
+  <text x="700" y="325" class="pin">RX</text>
+  <text x="700" y="355" class="pin">TX</text>
+  <text x="700" y="385" class="pin">GND</text>
+
+  <path d="M 295 230 C 425 230, 535 140, 675 140" class="wire-power"/>
+  <text x="420" y="190" class="label">VCC</text>
+
+  <path d="M 295 190 H 455" class="wire-ground"/>
+  <circle cx="455" cy="190" r="6" class="node"/>
+  <path d="M 455 190 C 535 190, 585 180, 675 180" class="wire-ground"/>
+  <path d="M 455 190 C 550 255, 600 380, 675 380" class="wire-ground"/>
+  <text x="385" y="175" class="label">common ground</text>
+
+  <path d="M 295 270 C 430 270, 535 320, 675 320" class="wire-tx"/>
+  <text x="425" y="298" class="label">AS-DT1 TX to FC RX</text>
+
+  <path d="M 295 310 C 430 310, 535 350, 675 350" class="wire-rx"/>
+  <text x="430" y="355" class="label">AS-DT1 RX to FC TX</text>
+</svg>
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -248,6 +248,7 @@
      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
+      - [Sony AS-DT1 LiDAR](sensor/sony_asdt1.md)
      - [TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
--- a/docs/en/_sidebar.md
+++ b/docs/en/_sidebar.md
@@ -245,6 +245,7 @@
      - [Lightware Lidars (SF/LW/GRF)](/sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](/sensor/sf45_rotating_lidar.md)
        - [Lightware GRF250/GRF500 Gimbal Lidar](/sensor/grf_lidar.md)
+      - [Sony AS-DT1 LiDAR](/sensor/sony_asdt1.md)
      - [TeraRanger](/sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](/sensor/cm8jl65_ir_distance_sensor.md)
      - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
--- a/docs/en/advanced_config/parameter_reference.md
+++ b/docs/en/advanced_config/parameter_reference.md
@@ -40332,6 +40332,62 @@ This parameter defines the rotation of the FMU board relative to the platform.
 | ------- | -------- | -------- | --------- | ------- | ---- | --------- |
 | &check; | -1       | 40       |           | 0       |      | &nbsp;    |

+### SENS_ASDT1_CFG (`INT32`) {#SENS_ASDT1_CFG}
+
+Serial Configuration for Sony AS-DT1 Rangefinder.
+
+Configure on which serial port to run Sony AS-DT1 Rangefinder.
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; |          |          |           | 0       |      | &nbsp;    |
+
+### SENS_ASDT1_MODE (`INT32`) {#SENS_ASDT1_MODE}
+
+Distance measurement range.
+
+Sony AS-DT1 distance measurement range mode. The driver uses
+this mode to configure the sensor and publish matching
+obstacle_distance metadata.
+
+**Values:**
+
+- `0`: 30MSTD
+- `1`: 30M15F
+- `2`: 30M30F
+- `3`: 20M
+- `4`: 40M
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | 0        | 4        |           | 0       |      | &nbsp;    |
+
+### SENS_ASDT1_ROT (`FLOAT`) {#SENS_ASDT1_ROT}
+
+Sensor yaw offset.
+
+Yaw angle offset of the Sony AS-DT1 sensor relative to the
+vehicle forward direction. Positive values are clockwise.
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | -360     | 360      |           | 0       | deg  | &nbsp;    |
+
 ### SENS_BOARD_X_OFF (`FLOAT`) {#SENS_BOARD_X_OFF}

 Board rotation X (roll) offset.
--- a/docs/en/computer_vision/collision_prevention.md
+++ b/docs/en/computer_vision/collision_prevention.md
@@ -41,6 +41,15 @@ At time of writing PX4 allows you to use the [Lanbao PSK-CM8JL65-CC5](../sensor/

 PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotating_lidar.md) rotating lidar which provides 320 degree sensing.

+### Sony AS-DT1 LiDAR
+
+PX4 supports the [Sony AS-DT1](../sensor/sony_asdt1.md) multipoint LiDAR as a directly connected UART sensor for collision prevention.
+The driver publishes measurements to `obstacle_distance` with 5 degree bins, using the configured sensor yaw offset.
+
+The AS-DT1 covers a forward horizontal field of view of about 35 degrees.
+Only the covered sectors are populated; other directions remain no-data unless covered by another sensor.
+Configure the sensor as described in the [Sony AS-DT1](../sensor/sony_asdt1.md) guide, then enable collision prevention with [CP_DIST](#CP_DIST).
+
 ### Other Rangefinders

 Other sensors may be enabled, but this requires modification of driver code to set the sensor orientation and field of view.
--- a/docs/en/modules/modules_driver_distance_sensor.md
+++ b/docs/en/modules/modules_driver_distance_sensor.md
@@ -382,6 +382,52 @@ pga460 <command> [arguments...]
   help
 ```

+## sony_asdt1
+
+Source: [drivers/distance_sensor/sony](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/sony)
+
+### Description
+
+Sony AS-DT1 serial driver. The driver probes 921600 and 115200 baud, configures
+the sensor for binary streaming, and publishes multipoint distance measurements.
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/sony_asdt1.html
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+
+```
+sony_asdt1 start -d /dev/ttyS4
+```
+
+Print the sensor's saved configuration without starting measurements.
+
+```
+sony_asdt1 start -d /dev/ttyS4 -s
+```
+
+Stop driver.
+
+```
+sony_asdt1 stop
+```
+
+### Usage {#sony_asdt1_usage}
+
+```
+sony_asdt1 <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+     [-s]        Send flshow and print response instead of starting
+                 measurements
+
+   stop          Stop driver
+
+   status        Print driver status
+```
+
 ## srf02

 Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf02)
--- a/docs/en/sensor/rangefinders.md
+++ b/docs/en/sensor/rangefinders.md
@@ -29,6 +29,7 @@ There may also be other DroneCAN rangefinders than those listed here.
 | [LightWare SF45/B]                          | ToF (IR laser)  | ~50 m                    | UART                   | ~    | Rotary lidar (collision prevention) |
 | [MaxBotix I2CXL-MaxSonar-EZ]                | Ultrasonic      |                          | I2C                    | ~    |                                     |
 | [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR)        | ~0.1 m – ~8 m            | DroneCAN, Cyphal       | ~    |                                     |
+| [Sony AS-DT1]                               | ToF             | up to 40 m               | UART                   | ~    | Multipoint distance sensor          |
 | [TeraRanger Evo 60 m]                       | ToF (IR)        | 0.5 m – 60 m             | I2C                    | ~    |                                     |
 | [TeraRanger Evo 600Hz]                      | ToF (IR)        | 0.75 m – 8 m             | I2C                    | ~    | High update rate (600 Hz)           |
 | [LightWare SF02] _(disc.)_                  | ToF (IR laser)  | ~50 m                    | UART                   | ~    | Discontinued                        |
@@ -55,6 +56,7 @@ There may also be other DroneCAN rangefinders than those listed here.
 [LightWare SF10/B]: ../sensor/sfxx_lidar.md
 [LightWare SF10/C]: ../sensor/sfxx_lidar.md
 [MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez
+[Sony AS-DT1]: ../sensor/sony_asdt1.md
 [TeraRanger Evo 60 m]: ../sensor/teraranger.md
 [TeraRanger Evo 600Hz]: ../sensor/teraranger.md
 [TeraRanger One]: ../sensor/teraranger.md
@@ -109,6 +111,11 @@ Others may be supported via the [RaccoonLab Cyphal and DroneCAN Rangefinder Adap

 PX4 also supports the [LightWare LiDAR SF45 Rotating Lidar](../sensor/sf45_rotating_lidar.md) for [collision prevention](../computer_vision/collision_prevention.md) applications.

+### Sony AS-DT1
+
+[Sony AS-DT1](../sensor/sony_asdt1.md) is a multipoint distance sensor that connects to PX4 over a UART/serial port.
+PX4 configures the sensor baud rate and measurement output from the driver.
+
 ### TeraRanger Rangefinders

 [TeraRanger](../sensor/teraranger.md) provide a number of lightweight distance measurement sensors based on infrared Time-of-Flight (ToF) technology.
--- a/docs/en/sensor/sony_asdt1.md
+++ b/docs/en/sensor/sony_asdt1.md
@@ -0,0 +1,111 @@
+# Sony AS-DT1 LiDAR
+
+The _Sony AS-DT1 LiDAR_ is a multipoint distance sensor that connects to PX4 over a UART/serial port.
+
+PX4 configures the sensor for binary output and publishes the measurements to the [`obstacle_distance`](../msg_docs/ObstacleDistance.md) uORB topic.
+
+## Supported Modes
+
+The driver supports the AS-DT1 distance measurement range modes listed below.
+
+| Mode   | Maximum Measurement Distance | Minimum Frame Interval | Distance Measurement Points |
+| ------ | ---------------------------- | ---------------------- | --------------------------- |
+| 30MSTD | 30 m                         | 33.33 ms               | 576                         |
+| 30M15F | 30 m                         | 66.66 ms               | 576                         |
+| 30M30F | 30 m                         | 33.33 ms               | 288                         |
+| 20M    | 20 m                         | 33.33 ms               | 576                         |
+| 40M    | 40 m                         | 66.66 ms               | 576                         |
+
+The mode is selected using [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE).
+
+## Collision Prevention Output
+
+The driver publishes the AS-DT1 data to the [`obstacle_distance`](../msg_docs/ObstacleDistance.md) uORB topic used by [Collision Prevention](../computer_vision/collision_prevention.md).
+The message uses 72 bins at 5 degree increments around the vehicle.
+
+The AS-DT1 horizontal field of view is about 35 degrees.
+The driver maps the sensor's horizontal band into the matching `obstacle_distance` bins and leaves uncovered directions as no-data.
+[SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) sets the yaw offset of this field of view relative to vehicle forward.
+
+## Hardware Setup
+
+The sensor can be connected to any unused _serial port_ (UART), such as `TELEM2`, `TELEM3`, or `GPS2`.
+
+The AS-DT1 uses the 8-pin JST-GH connector for external power and UART.
+Connect the sensor TX/RX pins to the flight controller UART and share ground between the sensor power supply and flight controller.
+
+![Sony AS-DT1 UART wiring](../../assets/hardware/sensors/sony_asdt1/asdt1_uart_wiring.svg)
+
+| AS-DT1 8-pin Connector | Function             | Connect To                         |
+| ---------------------- | -------------------- | ---------------------------------- |
+| Pin 1                  | GND                  | External power ground and flight controller serial GND |
+| Pin 2                  | VCC                  | External 12 V to 24 V power supply |
+| Pin 5                  | UART TX              | Flight controller serial RX        |
+| Pin 6                  | UART RX              | Flight controller serial TX        |
+
+The ground from AS-DT1 pin 1 must be common to both the external power supply and the flight controller serial port.
+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.
+
+Do not connect the AS-DT1 UART pins directly to RS-232 or RS-422 interfaces.
+The AS-DT1 UART RX input is 5 V tolerant, and the sensor should be powered from the external 12 V to 24 V supply described in the Sony hardware documentation.
+
+## Firmware Setup
+
+The `sony_asdt1` driver must be included in the PX4 firmware for the target board.
+If the Sony AS-DT1 parameters are not available, add the following line to the target board's `default.px4board` configuration, or enable the driver using [`boardconfig`](../hardware/porting_guide_config.md#px4-menuconfig-setup):
+
+```plain
+CONFIG_DRIVERS_DISTANCE_SENSOR_SONY_ASDT1=y
+```
+
+Then rebuild and flash the firmware.
+
+## Parameter Setup
+
+Use the Sony application to set the sensor to **Measurement (UART)** mode before connecting it to PX4.
+
+The driver uses the following parameters:
+
+| Parameter | Description |
+| --------- | ----------- |
+| [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG) | Selects the serial port and enables driver autostart on boot. |
+| [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. |
+| [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. |
+
+`SENS_ASDT1_MODE` and `SENS_ASDT1_ROT` may not appear until `SENS_ASDT1_CFG` is enabled and the flight controller has rebooted once.
+
+Reboot the flight controller, or restart the driver manually, after changing these parameters.
+
+[Configure the serial port](../peripherals/serial_configuration.md) on which the sensor will run using [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG).
+There is no need to set the baud rate for the port, as this is configured by the driver.
+
+Set [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE) to the required measurement mode and reboot the flight controller.
+
+If the sensor is mounted with a yaw offset from vehicle forward, set [SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) to the offset in degrees.
+Positive values are clockwise.
+
+## Testing
+
+You can check the driver state in the _QGroundControl MAVLink Console_:
+
+```sh
+sony_asdt1 status
+```
+
+You can observe the published measurements with:
+
+```sh
+listener obstacle_distance
+```
+
+To print the sensor's saved configuration without starting measurements, run:
+
+```sh
+sony_asdt1 start -d /dev/ttyS2 -s
+```
+
+Replace `/dev/ttyS2` with the serial device for your board and port.
+
+## Further Information
+
+- [Modules Reference: Distance Sensor (Driver): sony_asdt1](../modules/modules_driver_distance_sensor.md#sony-asdt1)
--- a/src/drivers/distance_sensor/sony/CMakeLists.txt
+++ b/src/drivers/distance_sensor/sony/CMakeLists.txt
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__distance_sensor__sony_asdt1
+	MAIN sony_asdt1
+	COMPILE_FLAGS
+	SRCS
+		sony_asdt1.cpp
+		sony_asdt1.hpp
+		sony_asdt1_main.cpp
+	DEPENDS
+		px4_work_queue
+	MODULE_CONFIG
+		module.yaml
+		)
--- a/src/drivers/distance_sensor/sony/Kconfig
+++ b/src/drivers/distance_sensor/sony/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_DISTANCE_SENSOR_SONY_ASDT1
+	bool "sony_asdt1"
+	default n
+	---help---
+		Enable support for sony_asdt1
--- a/src/drivers/distance_sensor/sony/module.yaml
+++ b/src/drivers/distance_sensor/sony/module.yaml
@@ -0,0 +1,41 @@
+module_name: Sony AS-DT1 Rangefinder
+serial_config:
+    - command: sony_asdt1 start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_ASDT1_CFG
+        group: Sensors
+
+parameters:
+    - group: Sensors
+      definitions:
+        SENS_ASDT1_MODE:
+            description:
+                short: Distance measurement range
+                long: |
+                    Sony AS-DT1 distance measurement range mode. The driver uses
+                    this mode to configure the sensor and publish matching
+                    obstacle_distance metadata.
+            type: enum
+            values:
+                0: 30MSTD
+                1: 30M15F
+                2: 30M30F
+                3: 20M
+                4: 40M
+            min: 0
+            max: 4
+            default: 0
+            reboot_required: true
+        SENS_ASDT1_ROT:
+            description:
+                short: Sensor yaw offset
+                long: |
+                    Yaw angle offset of the Sony AS-DT1 sensor relative to the
+                    vehicle forward direction. Positive values are clockwise.
+            type: float
+            decimal: 1
+            default: 0
+            min: -360
+            max: 360
+            unit: deg
+            reboot_required: true
--- a/src/drivers/distance_sensor/sony/sony_asdt1.cpp
+++ b/src/drivers/distance_sensor/sony/sony_asdt1.cpp
--- a/src/drivers/distance_sensor/sony/sony_asdt1.hpp
+++ b/src/drivers/distance_sensor/sony/sony_asdt1.hpp
@@ -0,0 +1,221 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sony_asdt1.hpp
+ *
+ * Sony AS-DT1 serial rangefinder driver.
+ */
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <drivers/drv_hrt.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/obstacle_distance.h>
+
+#include <mathlib/mathlib.h>
+
+#include <stdint.h>
+#include <sys/types.h>
+
+class AS_DT1 : public px4::ScheduledWorkItem
+{
+public:
+	AS_DT1(const char *device, bool print_config_only = false, float yaw_offset_degrees = 0.0f);
+	~AS_DT1() override;
+
+	int init();
+	void print_info();
+private:
+	enum class ParserState {
+		FindBegin,
+		ReadPayload,
+		ReadEnd,
+	};
+
+	enum class StartupState {
+		SendFormat,
+		WaitFormatPrompt,
+		SendFsync,
+		Streaming,
+		WaitFirstFrame,
+		SyncDrain,
+		SendPromptSync,
+		WaitPromptSync,
+		DrainAfterSync,
+		SendStop,
+		WaitStopPrompt,
+		SendMode,
+		SendReboot,
+		ModeSyncDrain,
+		ModeSendPromptSync,
+		ModeWaitPromptSync,
+		ModeDrainAfterSync,
+		ModeSendStop,
+		ModeWaitStopPrompt,
+		WaitModePrompt,
+		BaudProbeDrain,
+		BaudProbeSendPromptSync,
+		BaudProbeWaitResponse,
+		SendBaud,
+		WaitBaudPrompt,
+	};
+
+	void start();
+	void stop();
+	void Run() override;
+
+	int open_port();
+	void close_port();
+	int write_command_padded(const char *command);
+	int write_prompt_sync();
+	ssize_t drain_input();
+	ssize_t read_startup_response();
+	ssize_t read_baud_probe_response();
+	void record_read(const uint8_t *buffer, ssize_t bytes_read);
+	void reset_parser();
+	void reset_startup_prompt();
+	void set_startup_deadline(hrt_abstime timeout_us);
+	bool startup_deadline_elapsed() const;
+	const char *startup_state_name() const;
+	int read_and_print_response(const char *label);
+	int read_and_parse_available();
+	bool parse_byte(uint8_t byte);
+	int process_frame(const uint8_t *frame, size_t length);
+
+	static uint32_t decode_20bit_raw(const uint8_t *data, size_t sample_index);
+	static uint16_t z_raw_to_distance_cm(uint32_t z_raw);
+	static int sample_to_layout_index(size_t sample_index);
+	static int sample_to_layout_index(size_t sample_index, int32_t mode);
+	static bool short_frame_mode(int32_t mode);
+	static size_t sample_count_for_mode(int32_t mode);
+	static size_t frame_size_for_mode(int32_t mode);
+	static int min_used_row_for_mode(int32_t mode);
+	static int max_used_row_for_mode(int32_t mode);
+	static bool layout_index_to_row_col(int layout_index, int &row, int &col);
+	static int col_to_obstacle_bin(int col);
+	static uint16_t max_distance_for_mode(int32_t mode);
+	static const char *mode_command_for_param(int32_t mode);
+
+	static constexpr size_t COMMAND_BUFFER_SIZE{32};
+	static constexpr size_t COMMAND_PADDING_BYTES{16};
+	static constexpr size_t READ_BUFFER_SIZE{512};
+	static constexpr size_t LAST_READ_CAPTURE_SIZE{64};
+	static constexpr uint8_t READ_DRAIN_LIMIT{8};
+	static constexpr int FORMAT_SETTLE_INTERVAL{200000};
+	static constexpr int REBOOT_SETTLE_INTERVAL{3000000};
+	static constexpr int PROMPT_SYNC_INTERVAL{100000};
+	static constexpr int PROMPT_SYNC_SETTLE_INTERVAL{500000};
+	static constexpr int COMMAND_RESPONSE_TIMEOUT{1000000};
+	static constexpr int FIRST_FRAME_TIMEOUT{2000000};
+	static constexpr unsigned int ASDT1_DESIRED_BAUD{921600};
+	static constexpr unsigned int ASDT1_FALLBACK_BAUD{115200};
+	static constexpr uint8_t PROMPT_SYNC_ATTEMPT_LIMIT{16};
+	static constexpr uint8_t BAUD_PROBE_ATTEMPT_LIMIT{5};
+	static constexpr uint8_t STARTUP_COMMAND_RETRY_LIMIT{3};
+	static constexpr uint8_t STARTUP_DRAIN_READ_LIMIT{8};
+	static constexpr uint8_t FLSHOW_RETRY_LIMIT{5};
+	static constexpr uint8_t BIN_COUNT = sizeof(obstacle_distance_s::distances) / sizeof(
+			obstacle_distance_s::distances[0]);
+	static constexpr size_t ASDT1_MAX_SAMPLE_COUNT{576};
+	static constexpr size_t ASDT1_SHORT_SAMPLE_COUNT{288};
+	static constexpr size_t ASDT1_BINZ_FRAME_SIZE{1440};
+	static constexpr size_t ASDT1_BINZ_SHORT_FRAME_SIZE{720};
+	static constexpr size_t ASDT1_FRAME_BUFFER_SIZE{ASDT1_BINZ_FRAME_SIZE};
+	static constexpr uint16_t MIN_VALID_DISTANCE_CM{20};
+	static constexpr int ASDT1_COLS{24};
+	static constexpr int MIN_USED_ROW{8};
+	static constexpr int MAX_USED_ROW{15};
+	static constexpr int MIN_USED_SHORT_ROW{4};
+	static constexpr int MAX_USED_SHORT_ROW{7};
+	static constexpr float HORIZONTAL_FOV_DEG{35.0f};
+	static constexpr float LEFT_EDGE_DEG{-HORIZONTAL_FOV_DEG / 2.0f};
+	static constexpr float OBSTACLE_INCREMENT_DEG{5.0f};
+
+	obstacle_distance_s _obstacle_distance{};
+	uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
+
+	int _fd{-1};
+	int _read_interval_us{2000};
+	char _device[20] {};
+	bool _print_config_only{false};
+	int32_t _range_mode{0};
+	unsigned int _current_baud{ASDT1_DESIRED_BAUD};
+	char _last_command[COMMAND_BUFFER_SIZE] {};
+	size_t _last_command_len{0};
+	ssize_t _last_write{-1};
+	uint64_t _read_attempts{0};
+	uint64_t _bytes_read_total{0};
+	uint64_t _no_data_reads{0};
+	uint64_t _read_errors{0};
+	hrt_abstime _last_read{0};
+	ssize_t _last_read_size{0};
+	uint8_t _last_read_bytes[LAST_READ_CAPTURE_SIZE] {};
+	size_t _last_read_bytes_len{0};
+	uint8_t _frame_buffer[ASDT1_FRAME_BUFFER_SIZE] {};
+	size_t _frame_buffer_len{0};
+	ParserState _parser_state{ParserState::FindBegin};
+	StartupState _startup_state{StartupState::SyncDrain};
+	bool _startup_prompt_seen{false};
+	size_t _startup_prompt_match_index{0};
+	bool _startup_begin_seen{false};
+	size_t _startup_begin_match_index{0};
+	hrt_abstime _startup_deadline{0};
+	uint8_t _startup_sync_attempts{0};
+	uint8_t _startup_stop_attempts{0};
+	uint8_t _startup_format_attempts{0};
+	uint64_t _startup_fsync_attempts{0};
+	uint64_t _startup_frame_wait_baseline{0};
+	uint64_t _startup_mode_attempts{0};
+	uint64_t _startup_baud_set_attempts{0};
+	uint64_t _startup_baud_probe_attempts{0};
+	uint64_t _startup_reboot_attempts{0};
+	bool _startup_baud_probe_done{false};
+	bool _startup_mode_preamble_done{false};
+	uint64_t _startup_prompt_timeouts{0};
+	uint64_t _startup_discarded_bytes{0};
+	size_t _begin_match_index{0};
+	size_t _end_match_index{0};
+	uint64_t _frames_rx{0};
+	uint64_t _frames_pub{0};
+	uint64_t _parser_resets{0};
+	uint64_t _end_marker_failures{0};
+	uint64_t _below_min_distance_samples{0};
+	size_t _last_frame_processed_len{0};
+	size_t _last_sample_count{0};
+	uint8_t _last_valid_bins{0};
+	uint16_t _last_closest_distance{UINT16_MAX};
+};
--- a/src/drivers/distance_sensor/sony/sony_asdt1_main.cpp
+++ b/src/drivers/distance_sensor/sony/sony_asdt1_main.cpp
@@ -0,0 +1,178 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "sony_asdt1.hpp"
+
+#include <parameters/param.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#include <cstring>
+
+namespace sony_as_dt1
+{
+
+AS_DT1 *g_dev{nullptr};
+
+static int start(const char *serial_device_path, bool print_config_only, float yaw_offset_degrees)
+{
+	if (g_dev != nullptr) {
+		PX4_WARN("already started");
+		return -1;
+	}
+
+	if (serial_device_path == nullptr) {
+		PX4_ERR("no device specified");
+		return -1;
+	}
+
+	g_dev = new AS_DT1(serial_device_path, print_config_only, yaw_offset_degrees);
+
+	if (g_dev == nullptr) {
+		return -1;
+	}
+
+	if (g_dev->init() != PX4_OK) {
+		delete g_dev;
+		g_dev = nullptr;
+		return -1;
+	}
+
+	return 0;
+}
+
+static int stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		return -1;
+	}
+
+	return 0;
+}
+
+static int status()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return -1;
+	}
+
+	g_dev->print_info();
+
+	return 0;
+}
+
+static int usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Sony AS-DT1 serial driver. The driver probes 921600 and 115200 baud, configures
+the sensor for binary streaming, and publishes multipoint distance measurements.
+
+### Examples
+
+$ sony_asdt1 start -d /dev/ttyS4
+$ sony_asdt1 start -d /dev/ttyS4 -s
+$ sony_asdt1 status
+$ sony_asdt1 stop
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sony_asdt1", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
+	PRINT_MODULE_USAGE_PARAM_FLAG('s', "Send flshow and print response instead of starting measurements", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print driver status");
+	return PX4_OK;
+}
+
+} // namespace sony_as_dt1
+
+extern "C" __EXPORT int sony_asdt1_main(int argc, char *argv[])
+{
+	const char *device_path = nullptr;
+	bool print_config_only = false;
+	float yaw_offset_degrees = 0.0f;
+	int cli_option = 0;
+	int cli_option_index = 1;
+	const char *cli_option_arg = nullptr;
+
+	while ((cli_option = px4_getopt(argc, argv, "d:s", &cli_option_index, &cli_option_arg)) != EOF) {
+		switch (cli_option) {
+		case 'd':
+			device_path = cli_option_arg;
+			break;
+
+		case 's':
+			print_config_only = true;
+			break;
+
+		default:
+			sony_as_dt1::usage();
+			return -1;
+		}
+	}
+
+	if (cli_option_index >= argc) {
+		sony_as_dt1::usage();
+		return -1;
+	}
+
+	const char *command = argv[cli_option_index];
+
+	if (!strcmp(command, "start")) {
+		const param_t handle = param_find("SENS_ASDT1_ROT");
+
+		if (handle != PARAM_INVALID) {
+			(void)param_get(handle, &yaw_offset_degrees);
+		}
+
+		return sony_as_dt1::start(device_path, print_config_only, yaw_offset_degrees);
+
+	} else if (!strcmp(command, "stop")) {
+		return sony_as_dt1::stop();
+
+	} else if (!strcmp(command, "status")) {
+		return sony_as_dt1::status();
+	}
+
+	sony_as_dt1::usage();
+	return -1;
+}