RNGFND1_ parameters

24 parameters in the RNGFND1_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

RNGFND1_ADDR

Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Range	0 to 127
Increment	1
User level	Standard

RNGFND1_FUNCTION

Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

User level

Standard

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND1_GNDCLR

Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Units	m
Range	0.05 to 1.5
Increment	0.01
User level	Standard

RNGFND1_MAX

Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Units	m
Increment	0.01
User level	Standard

RNGFND1_MIN

Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Units	m
Increment	0.01
User level	Standard

RNGFND1_OFFSET

rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Units	V
Increment	0.001
User level	Standard

RNGFND1_ORIENT

Rangefinder orientation

Orientation of rangefinder

User level

Advanced

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND1_PIN

Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as “GPIOs”. Values for some autopilots are given as examples. Search wiki for “Analog pins” for analog pin or “GPIOs”, if PWM input type, to determine pin number.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Not Used
11	Pixracer
13	Pixhawk ADC4
14	Pixhawk ADC3
15	Pixhawk ADC6/Pixhawk2 ADC
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
103	Pixhawk SBUS

RNGFND1_POS_X

X position offset

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

RNGFND1_POS_Y

Y position offset

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

RNGFND1_POS_Z

Z position offset

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

RNGFND1_PWRRNG

Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Units	m
Range	0 to 32767
User level	Standard

RNGFND1_RECV_ID

RangeFinder CAN receive ID

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range	0 to 65535
User level	Advanced

RNGFND1_RMETRIC

Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

User level

Standard

Values

Value	Meaning
0	No
1	Yes

RNGFND1_SCALING

Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

Units	m/V
Increment	0.001
User level	Standard

RNGFND1_SNR_MIN

RangeFinder Minimum signal strength

RangeFinder Minimum signal strength (SNR) to accept distance

Range	0 to 65535
User level	Advanced

RNGFND1_STOP_PIN

Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND1_TYPE

Rangefinder type

Type of connected rangefinder

User level

Standard

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	USD1_Serial
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	DroneCAN
25	BenewakeTFmini-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
34	Benewake_CAN
35	TeraRangerSerial
36	Lua_Scripting
37	NoopLoop_TOFSense
38	NoopLoop_TOFSense_CAN
39	NRA24_CAN
40	NoopLoop_TOFSenseF_I2C
41	JRE_Serial
42	Ainstein_LR_D1
43	RDS02UF
44	HexsoonRadar
45	LightWare-GRF
46	BenewakeTFS20L
47	DTS6012M
48	LightWare-GRF-I2C
100	SITL

RNGFND1_WSP_AVG

Multi-pulse averages

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range	0 to 255
User level	Advanced

RNGFND1_WSP_BAUD

Baud rate

Desired baud rate

User level

Advanced

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND1_WSP_FRQ

Frequency

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range	0 to 10000
User level	Advanced

RNGFND1_WSP_MAVG

Moving Average Range

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range	0 to 255
User level	Advanced

RNGFND1_WSP_MEDF

Moving Median Filter

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range	0 to 255
User level	Advanced

RNGFND1_WSP_THR

Sensitivity threshold

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range	-1 to 255
User level	Advanced