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cleanflight/docs/Sonar.md
Dominic Clifton 93454d82a7 Updating sonar docs - adding a note that sonar is not available on the 
CC3D OPBL build.
2015-05-23 11:53:45 +01:00

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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)

Constraints

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)

Constraints

Current meter cannot be used in conjunction with Sonar.

CC3D

Trigger Echo Inline 1k resistors
PB5 PB0 YES (3.3v input)

Sonar support is not available when using the OpenPilot bootloader (OPBL).

Constraints

Sonar cannot be used in conjuction with SoftSerial or Parallel PWM.