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cleanflight/docs/Sonar.md
Per Magnus Auby b83b9040f9 Updates sonar so that it can be used together with ADC current meter 
Check if ADC current meter is enabled in sonarInit() and change
sonar pins to pwm 5 and 6 if it is. Same as when RX_PARALLEL is enabled.
2015-03-31 13:47:17 +02:00

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Sonar

A sonar sensor can be used to measure altitude for use with BARO and SONAR altitude hold modes.

The sonar sensor is used instead of the pressure sensor (barometer) at low altitudes. The sonar sensor is only used when the aircraft inclination angle (attitude) is small.

Hardware

Currently the only supported sensor is the HCSR04 sensor.

Connections

Naze/Flip32+

Mode Trigger Echo Inline 1k resistors
Parallel PWM/ADC current sensor PB8 / Motor 5 PB9 / Motor 6 NO (5v tolerant)
PPM/Serial RX PB0 / RC7 PB1 / RC8 YES (3.3v input)

Current meter cannot be used in conjunction with Parallel PWM and Sonar.

Olimexino

Trigger Echo Inline 1k resistors
PB0 / RC7 PB1 / RC8 YES (3.3v input)

Current meter cannot be used in conjunction with sonar.