# Landing Sensor on PX4 Autonomy Developer Kit

Source: https://forum.modalai.com/topic/3188/landing-sensor-on-px4-autonomy-developer-kit
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: px4-dev-kit
Posted: 2024-03-09 00:57:02 UTC by frafrat
Replies: 3 · Views: 2034

## frafrat · 2024-03-09 00:57:02 UTC

Hello,

I just bought a PX4 Autonomy Developer Kit since I noticed from [this](https://cdn.shopify.com/s/files/1/0101/1977/4259/files/ModalAI_PX4_Autonomy_Developer_Kit_Product_Brief.pdf?v=1697587073) that the VL53L1X sensor is used as a landing sensor. Can you please explain how this sensor is connected to the VOXL and how I can set the PX4 to use it correctly? 

Thanks a lot for your time

## Reply by Eric Katzfey (ModalAI staff) · 2024-03-10 18:02:29 UTC

@frafrat It isn't really supported yet. It's there as a future enhancement.

## Reply by frafrat · 2024-03-10 22:07:19 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I see! But is the sensor somewhere in the PX4 Autonomy Development Kit drone or it is not there at all?

Thanks

## Reply by James Strawson (ModalAI staff) · 2024-03-11 17:57:43 UTC (in reply to frafrat)

@frafrat 

Hi. The sensor is integrated into the VOXL SDK and raw data can be viewed through ADB or SSH with the voxl-inspect-rangefinders command line tool. All PX4 Autonomy Dev kids have this sensor. That data is sent from qrb5165-rangefinder-server to PX4 via voxl-mavlink-server. To enable in PX4 set the PX4 EKF2_RNG_CTRL param to 1. You will likely need to fiddle with PX4's other rangefinder params to achieve the behavior you want.

Best,
James