mirror of https://github.com/ArduPilot/ardupilot
38 lines
2.1 KiB
Markdown
38 lines
2.1 KiB
Markdown
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# TOFSense-M Serial Driver
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TOFSense-M Serial Driver lua script. Only Copter/Rover/Plane 4.5 and above
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## How to use - Pre-Configuration
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- Connect sensors to one of autopilot's Serial port
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- Set SERIALx_PROTOCOL 28
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- Set SCR_ENABLE = 1 to enable scripting
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- Set SCR_HEAP_SIZE = 150000 (or higher)
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- If using the sensor as a 1-D Rangefinder (typically for terrain following); set RNGFND1_TYPE = 36 (Scripting) to enable the rangefinder scripting driver
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- If using the sensor as a 3-D Proximity sensor (typically for obstacle); set PRX1_TYPE = 15 (Scripting) to enable the proximity scripting driver
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- Reboot the autopilot
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- Copy the TOFSense-M_Serial.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
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## How to use - Script Parameter Configuration
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If everything above is done correctly, new "TOFSENSE_S_" parameters should be visible (only after script loads. Please refresh parameters if not visible). Script parameters to adjust are listed below. Any changes would require reboot
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### TOFSENSE_S1_PRX
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If you have set RNGFND1_TYPE = 36, then set this as 0
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If you have set PRX1_TYPE = 15, then set this as 1
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Any change in this parameter will require a reboot (or scripting restart), ignore any errors on change before reboot. Make sure RNGFND/PRX is configured before setting this.
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### TOFSENSE_S1_SP
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UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. For example, if SERIAL1_PROTOCOL = 28, and SERIAL2_PROTOCOL = 28, then setting this parameter 2 would assume the SERIAL2 port is attached to the sensor
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### TOFSENSE_S1_BR
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Serial Port baud rate. Sensor baud rate of the sensor can be changed from Nassistant software
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## Advanced: Configuring more than one sensor on different Serial ports
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It is not recommended to use this driver for more than one sensor. However, it is possible if you wish to do it.
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Simply make a copy of the lua script, open it and change the first line "local sensor_no = 1" to "local sensor_no = 2" and upload that script along side the first script.
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Once a reboot is done, new TOFSENSE_S2_ parameters should be visible which can be configured as described above.
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