Lidar-Lite
LIDAR-Lite is a compact, high-performance optical distant measurement sensor solution for drone, robot or unmanned vehicle applications. It can be connected to either I2C or PWM.
购买渠道
LIDAR-Lite v3 (5cm - 40m)
针脚定义
The Lidar-Lite (v2, v3) pinout is shown below.
| 针脚 | 参数名 | 参数描述 |
|---|---|---|
1 | POWER_IN | Power supply. 4.75-5.5V DC Nominal, Maximum 6V DC. |
2 | POWER_EN | Active high, enables operation of the 3.3V micro-controller regulator. Low puts board to sleep, draws <40 μA. (Internal 100K pull-up) |
3 | Mode Select Control | Provides trigger (high-low edge) PWM out (high) |
4 | SCL | I2C Clock |
5 | SDA | I2C Data |
6 | GND | Signal/power ground. |
布线
The Lidar-Lite v3 can be used with either PWM or I2C. PWM is recommended if using an older model. The rangefinder must be separately powered via some ESC/BEC (whether connected via PWM or I2C).
The standard wiring instructions for Lidar-Lite 3 (from the Operation Manual) are shown below. Lidar-Lite v2 and v3 are the same, except that the order of pins in the connector is reversed (i.e. it is as though the connector was turned over).
PWM Interface Wiring
The pin connections for wiring LidarLite to the Pixhawk 1 AUX ports (PWM interface) are shown below.
| 针脚 | Lidar-Lite (v2, v3) | Pixhawk AUX Servo | Comment |
|---|---|---|---|
1 | VCC | AUX 6 (center) | Power supply. 4.75-5.5V DC Nominal, Maximum 6V DC. |
2 | RESET | AUX 6 (bottom) | Reset line of the sensor |
3 | PWM | AUX 5 (bottom) | PWM output of the Lidar Lite. Needs a 470 Ohm pull-down (to GND), Do not use a 1 K0hm resistor. |
4 | SCL | - | Not connected |
5 | SDA | - | Not connected |
6 | GND | AUX 6 (top) | Ground |
The wiring for LidarLite v2 is shown below. Lidar-Lite v3 is wired similarly, except that the pin-numbering on the connector is reversed.
I2C Interface Wiring
The I2C wiring is the same for any other distance sensor. Simply connect the SLA, SLC, GND and VCC to the corresponding (same) pins on the flight controller and the sensor.
软件配置
The rangefinder/port is enabled using SENS_EN_LL40LS - set to 1 for PWM, or 2 for I2C.
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