{"id":566,"date":"2015-10-30T16:34:31","date_gmt":"2015-10-31T01:34:31","guid":{"rendered":"\/blog\/?p=566"},"modified":"2023-09-21T09:38:10","modified_gmt":"2023-09-21T00:38:10","slug":"pixhawk%ec%97%90-%ec%95%84%eb%82%a0%eb%a1%9c%ea%b7%b8-sonar-%ec%9e%a5%ec%b0%a9","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=566","title":{"rendered":"pixhawk\uc5d0 \uc544\ub0a0\ub85c\uadf8 sonar \uc7a5\ucc29"},"content":{"rendered":"\n<p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\uc6d0\ubb38 :&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/\" target=\"_blank\" rel=\"noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/<\/span><\/a><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><p><br \/><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><h1 class=\"entry-title\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Maxbotic Analog Sonar \u2013 Copter3.2<\/span><\/h1><div class=\"entry-meta\"><\/div><p><!-- .entry-meta --><span style=\"font-family: Tahoma, Geneva, sans-serif;\">         <\/span><!-- .entry-header --><span style=\"font-family: Tahoma, Geneva, sans-serif;\">          <\/span><br \/><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><div class=\"entry-content\"><div id=\"wikinav\"><strong><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Content (<\/span><a class=\"wikitoggleLink\" href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Show<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\">)<\/span><\/strong><ul class=\"wikitoggle\" style=\"display: none;\"><li class=\"h1\"><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#Connecting-to-the-Pixhawk\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Connecting to the Pixhawk<\/span><\/a><\/li><li class=\"h1\"><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#Connecting-to-the-APM2.x\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Connecting to the APM2.x<\/span><\/a><\/li><li class=\"h1\"><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#Setup-through-the-mission-planner\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Setup through the mission planner<\/span><\/a><\/li><li class=\"h1\"><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#Testing-the-sensor\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Testing the sensor<\/span><\/a><\/li><\/ul><\/div><p><a class=\"external external_icon\" href=\"http:\/\/www.maxbotix.com\/Ultrasonic_Sensors\/People_Sensors.htm\" target=\"_blank\" rel=\"nofollow noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">XL-Maxbotic-EZ<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> line of analog sonars (XL-MaxSonar-EZ0, EZ4 and EZL0) are relatively inexpensive, short range (7m to 10m) range finder primarily designed for indoor use but which has been successfully used outdoors on Copter and Rover.&nbsp; These are the predecessors to <\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/wiki\/common-rangefinder-maxbotixi2c\/\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">I2C sonar<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\">.<\/span><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><div class=\"copter info-box\"><div class=\"info-box-title\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\ucf65\ud130 :<\/span><\/div><div class=\"info-box-text\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">These instructions are for Copter 3.2 and later versions of Plane, Rover.&nbsp; Setup instructions for Copter-3.1.5 (and earlier) <\/span><a class=\"external external_icon\" href=\"http:\/\/copter.ardupilot.com\/wiki\/sonar\/\" target=\"_blank\" rel=\"nofollow noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">can be found here<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\">.<\/span><\/div><\/div><p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">The <\/span><a class=\"external external_icon\" href=\"http:\/\/www.maxbotix.com\/Ultrasonic_Sensors\/MB1240.htm\" target=\"_blank\" rel=\"nofollow noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">EZ4<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> (recommended) has the narrowest beam providing the best noise resistance while the <\/span><a class=\"external external_icon\" href=\"http:\/\/www.maxbotix.com\/Ultrasonic_Sensors\/MB1200.htm\" target=\"_blank\" rel=\"nofollow noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">EZ0<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> has the widest beam and higher sensitivity.&nbsp; The long range <\/span><a class=\"external external_icon\" href=\"http:\/\/www.maxbotix.com\/Ultrasonic_Sensors\/MB1260.htm\" target=\"_blank\" rel=\"nofollow noopener\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">EZL0<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> has the same sensitivity as the EZ0 but a 10m range (as opposed to 7m).<\/span><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><div class=\"no_bullets\" id=\"toc_container\"><p class=\"toc_title\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Contents <\/span><span class=\"toc_toggle\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">[<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#\"><span style=\"font-family: Tahoma, Geneva, sans-serif;\">hide<\/span><\/a><span style=\"font-family: Tahoma, Geneva, sans-serif;\">]<\/span><\/span><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><ul class=\"toc_list\"><li><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#connecting_to_the_pixhawk\"><span class=\"toc_number toc_depth_1\" style=\"font-family: Tahoma, Geneva, sans-serif;\">1<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> Connecting to the Pixhawk<\/span><\/a><\/li><li><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#connecting_to_the_apm2x\"><span class=\"toc_number toc_depth_1\" style=\"font-family: Tahoma, Geneva, sans-serif;\">2<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> Connecting to the APM2.x<\/span><\/a><\/li><li><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#setup_through_the_mission_planner\"><span class=\"toc_number toc_depth_1\" style=\"font-family: Tahoma, Geneva, sans-serif;\">3<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> Setup through the mission planner<\/span><\/a><\/li><li><a href=\"http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/#testing_the_sensor\"><span class=\"toc_number toc_depth_1\" style=\"font-family: Tahoma, Geneva, sans-serif;\">4<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\"> Testing the sensor<\/span><\/a><\/li><\/ul><\/div><h1><span id=\"connecting_to_the_pixhawk\"><span id=\"Connecting-to-the-Pixhawk\" style=\"font-family: Tahoma, Geneva, sans-serif;\">Connecting to the Pixhawk<\/span><\/span><\/h1><p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">The sonar should be conneted to the Pixhawk's ADC 3.3V port as shown below. The Pixhawk will provide the regulated 5V power supply the sonar requires.<\/span><br \/><a class=\"external\" href=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_Pixhawk.png\" rel=\"fancybox\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"581\" class=\"alignnone size-full wp-image-2609\" alt=\"RangeFinder_MaxbotixAnalog_Pixhawk\" src=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_Pixhawk.png\" editor_component=\"image_link\" \/><\/a><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><h1><span id=\"connecting_to_the_apm2x\"><span id=\"Connecting-to-the-APM2.x\" style=\"font-family: Tahoma, Geneva, sans-serif;\">Connecting to the APM2.x<\/span><\/span><\/h1><p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">The sonar should be conneted to the APM's A0 port as shown below. The APM will provide the regulated 5V power supply the sonar requires.<\/span><br \/><a class=\"external\" href=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_APM2.jpg\" rel=\"fancybox\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"531\" class=\"alignnone size-full wp-image-2621\" alt=\"RangeFinder_MaxbotixAnalog_APM2\" src=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_APM2.jpg\" editor_component=\"image_link\" \/><\/a><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><h1><span id=\"setup_through_the_mission_planner\"><span id=\"Setup-through-the-mission-planner\" style=\"font-family: Tahoma, Geneva, sans-serif;\">Setup through the mission planner<\/span><\/span><\/h1><p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">please first connect with the Mission Planner and then open the Config\/Tuning &gt;&gt; Full Parmeter List page and set the following parameters:<\/span><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><ul><li><span style=\"font-family: Tahoma, Geneva, sans-serif;\">RNGFND_PIN = \"14\" for Pixhawk's ADC 3.3v pin #2 <\/span><strong><span style=\"font-family: Tahoma, Geneva, sans-serif;\">OR <\/span><\/strong><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\"0\" for APM2.x<\/span><\/li><li><span style=\"font-family: Tahoma, Geneva, sans-serif;\">RNGFND_MAX_CM = \"700\" (i.e. 7m max range) if using EZ0 or EZ4, \"1000\" if using EZL0<\/span><\/li><li><span style=\"font-family: Tahoma, Geneva, sans-serif;\">RNGFND_SCALING = \"2.04\" (i.e. 7m \/ 5v) if using EZ0 or EZ4, \"4.08\" (i.e. 10m \/ 5v) if using EZL0<\/span><\/li><li><span style=\"font-family: Tahoma, Geneva, sans-serif;\">RNGFND_TYPE = \"1\u2033 (Analog)<\/span><\/li><\/ul><p><a class=\"external\" href=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_Pixhawk_MPSetup.png\" rel=\"fancybox\"><img loading=\"lazy\" decoding=\"async\" width=\"1287\" height=\"638\" class=\"alignnone size-full wp-image-2899\" alt=\"RangeFinder_MaxbotixAnalog_Pixhawk_MPSetup\" src=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_MaxbotixAnalog_Pixhawk_MPSetup.png\" editor_component=\"image_link\" \/><\/a><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><h1><span id=\"testing_the_sensor\"><span id=\"Testing-the-sensor\" style=\"font-family: Tahoma, Geneva, sans-serif;\">Testing the sensor<\/span><\/span><\/h1><p><span style=\"font-family: Tahoma, Geneva, sans-serif;\">Distances read by the sensor can be seen in the Mission Planner's Flight Data screen's Status tab. Look closely for \"sonarrange\".<\/span><br \/><a class=\"external\" href=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_LIDARLite_Testing.png\" rel=\"fancybox\"><img loading=\"lazy\" decoding=\"async\" width=\"584\" height=\"411\" class=\"alignnone size-large wp-image-2546\" alt=\"RangeFinder_LIDARLite_Testing\" src=\"http:\/\/planner.ardupilot.com\/wp-content\/uploads\/sites\/5\/2014\/08\/RangeFinder_LIDARLite_Testing-1024x721.png\" editor_component=\"image_link\" \/><\/a><\/p>\r\n<span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><span style=\"font-family: Tahoma, Geneva, sans-serif;\">\r\n<\/span><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\uc6d0\ubb38 :&nbsp;http:\/\/copter.ardupilot.com\/wiki\/common-rangefinder-maxbotix-analog\/ Maxbotic Analog Sonar \u2013 Copter3.2 Content (Show) Connecting to the Pixhawk Connecting to the APM2.x Setup through the mission planner Testing the sensor XL-Maxbotic-EZ line of analog sonars (XL-MaxSonar-EZ0, EZ4 and EZL0) are relatively inexpensive, short range (7m to 10m) range finder primarily designed for indoor use but which has been successfully used [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[30],"tags":[],"class_list":["post-566","post","type-post","status-publish","format-standard","hentry","category-multi_copter_fc"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/566","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=566"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/566\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=566"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=566"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=566"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}