請教關於 PX4FLOW 聲納的設定

honor1993

PX4FLOW 版本是v1.3.1 有聲納版本
使用I2C連接PIXHAWK
聲納設根據這個網站的引導設定
https://www.lambdrive.com/depot/ ... ot/OpticalFlow.html

# Analog=1, I2C=4
RNGFND_TYPE=1
# Analog output on EZ4 is linear
RNGFND_FUNCTION=0

# Analog input pin on ADC 6.6V socket is mapped to virtual pin 15.
# If you've connected the sonar to ADC 3.3V socket (using voltage converter), it will either be virtual pin 13 or 14 (ADC 3.3V socket has 2 analog input pins combined).
RNGFND_PIN=15

# EZ4 is linear and ratiometric
RNGFND_FUNCTION=0
RNGFND_RMETRIC=1

# Don't connect stop pin (sonar will always be on)
RNGFND_STOP_PIN=-1

# The wiki says you should set this to 7m for EZ0 and EZ4, but that's for XL-MaxSonar series. HRLV-Max-Sonar-EZ4 on PX4FLOW only mesures up to 5m.
RNGFND_MAX_CM=500
# EZ4 on PX4FLOW won't return reliable data if the distance is closer than 30cm.
RNGFND_MIN_CM=30

# Adjust the following according to the description given by Paul Riseborough below.
# http://diydrones.com/forum/topic ... 3AComment%3A2137979

# Distance in cm of the PX4FLOW unit from the ground.
RNGFND_GNDCLEAR=2
# In theory, the voltage range should be between 0.293V and 4.885V (300mm to 5000mm) when Vcc = 5V for the EZ4 sonar on PX4FLOW.
RNGFND_OFFSET=0.293
# Acroding to the datasheet, EZ4 will return 4.885V at 5m when given 5V Vcc.
# 5m / 4.885v
RNGFND_SCALING=1.02354


設定完後聲納的電壓跟距離都是0沒有任何反應
請問前輩們我是在哪一步驟有錯誤?
謝謝!

macgyver64

PX4FLOW 1.3.1 上面的聲納是給光流使用的,不會提供資料給 PIX ..
我個人是把聲納的ADC引腳獨立拉出給PIX使用(我的聲納是 ADC版本）..
後期是用一塊arduino mini 把 ADC轉成I2C,就可以回傳給PIX了..