Landing Sensor on PX4 Autonomy Developer Kit

[frafrat]

Hello,

I just bought a PX4 Autonomy Developer Kit since I noticed from this 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

[Eric Katzfey]

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

[frafrat]

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

Thanks

[James Strawson]

@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