AP_RangeFinder: Add minimum distance to the effective distance determination for VL53L1X #22833
Conversation
…ination for VL53L1X
There was a problem hiding this comment.
Minimum ranging distance The minimum ranging distance is 4 cm. Under this minimum distance, the sensor will detect a target, but the measurement will not be accurate. PAGE 16
Indeed.
I don't think that is a big deal as 4cm is already in the "I will crash zone" for a drone, but nice to have.
|
One issue with this though is that if the range finder is at a very short range for a few seconds its state will become "NoData" and will show as unhealthy on the HUD. The current behaviour in latest is that it will become OutOfRangeLow. A solution to the above problem would be to add new counters for out-of-range-high and out-of-range-low and use those back in the update() to determine what status to set. Are we sure that this is the cause of the offset? |
|
Will the failure be resolved 100% just by entering this judgment? "I think it will be partially resolved." Devices have an effective range. It is NO GOOD to use values not guaranteed by the manufacturer. |
|
The question is what does the rangefinder return under 4cm ? if that is something random in 0 - 4cm our driver is fine and we can trust the OutOfRangeLow. |
|
ok I have check on some forum, value under 4cm are wrong but caped. So we are fine. (https://forum.bitcraze.io/viewtopic.php?t=4241) @rmackay9 any objection to close this as this don't bring improvements nor solve the issue tagged ? |
|
@khancyr, thanks for looking into this. I'm happy closing this. |
|
Closing per tag and Randy's approval. |
#22769 Related.
Make it so that distances less than the manufacturer's warranty distance do not accumulate.
The manufacturer sets the minimum distance at 4 cm.
In this process, the value is not 1cm.
Datasheet:
https://www.pololu.com/file/0J1506/VL53L1X.pdf