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cleanflight/docs/Sonar.md
Dominic Clifton 4ed6fdfea5 CC3D - Add sonar. 
This also ensures that the PWM mapping does not use the sonar pins when
sonar is enabled in a board agnostic way.
Conflicts:
	src/main/config/config.c
	src/main/drivers/pwm_mapping.h
	src/main/main.c
	src/main/target/CC3D/target.h
2015-05-22 22:35:41 +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)

Constraints

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