Rangefinders are devices used to measure Above Ground Altitude.
Current support of rangefinders in INAV is very limited. They are used only to:
- landing detection for multirotors
- automated landing support for fixed wings
- Experimental terrain following (Surface) flight mode activated with SURFACE and ALTHOLD flight mode
Following rangefinders are supported:
- SRF10 - experimental
- INAV_I2C - is a simple DIY rangefinder interface with Arduino Pro Mini 3.3V. Can be used to connect when flight controller has no Trigger-Echo ports.
- VL53L0X - simple laser rangefinder usable up to 75cm
- UIB - experimental
- MSP - experimental
- TOF10120 - small & lightweight laser range sensor, usable up to 200cm
- TERARANGER EVO - 30cm to 600cm, depends on version https://www.terabee.com/sensors-modules/lidar-tof-range-finders/#individual-distance-measurement-sensors
- NRA15/NRA24 - experimental, UART version
NRA15/NRA24 from nanoradar use US-D1_V0 or NRA protocol, it depends which firmware you use. Radar can be set by firmware to two different resolutions. See table below.
| Radar | Protocol | Resolution | Name in configurator |
|---|---|---|---|
| NRA15 | US-D1_V0 | 0-30m (+-4cm) | USD1_V0 |
| NRA15 | NRA | 0-30m (+-4cm) | NRA |
| NRA15 | NRA | 0-100m (+-10cm) | NRA |
| NRA24 | US-D1_V0 | 0-50m (+-4cm) | USD1_V0 |
| NRA24 | US-D1_V0 | 0-200m (+-10cm) | USD1_V0 |
| NRA24 | NRA | 0-50m (+-4cm) | NRA |
| NRA24 | NRA | 0-200m (+-10cm) | NRA |
I2C solutions like VL53L0X or INAV_I2C can be connected to I2C port and used as any other I2C device.
INAV does not support HC-SR04 and US-100. No constrains for I2C like VL53L0X or INAV_I2C.