Pixhawk ardupilot使用微型TOF模块VL53L0X测距

VL53L0X 测距长度只有两米，精确度在±3百范围，还是挺不错的，测距时间不足30ms，可用于无人机室内或者高度比较低的场景飞行。

该芯片使用IIC进行通信，可编程模块IIC地址，可以进一步用于低成本多方向无人机避障等。

接线如下图：

ardupilot在Copter-3.6, Rover-3.3及Plane-3.9以上版本对该模块进行了支持，使用时修改设置如下：

RNGFND_TYPE = 16 (VL53L0X)

RNGFND_ADDR = 41 (I2C Address of lidar in decimal). The sensor’s default I2C address is 0x29 hexademical which is 41 in decimal.

RNGFND_SCALING = 1

RNGFND_MIN_CM = 5

RNGFND_MAX_CM = 120. This is the distance in cm that the rangefinder can reliably read.

RNGFND_GNDCLEAR = 10 or more accurately the distance in cm from the range finder to the ground when the vehicle is landed. This value depends on how you have mounted the rangefinder.

具体如下图：