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→Some consideration about "AP_RangeFinder" library
To quickly see what the sensor transmits on the UART ports, we can use a raspberry pi and a python script. See [https://electrosome.com/uart-raspberry-pi-python/ Using UART on Raspberry PI]
The wiring is simply the TX UART pin connected with the RX pin of the sensor and the TX of the sensor connected through a voltage divider (5K1, 10K) to the RX UART pin of the raspberry. The raspberry was connected via Ethernet + SSH to the PC and printed the results on the terminal, so no keyboard + monitor needed.
[[File:Raspberry-pi-2-gpio-pinout.png|thumb|GPIO Pinout]]
* Stable state machine implementation with timeouts and failure mode
* Full sensor frequency usage (~ 10Hz)
=Implement Sonar support into Pixhawk firmware=
In order to add the Waytronic sonar support in the Pixhawk fw we first need to implement a new class for our specific device (AP_RangeFinder_WayTronic18mSerial) in the /ardupilot/libraries/ folder then integrate it in the generic "RangeFinder" class.
==Some consideration about "AP_RangeFinder" library==
TODO:
#Define a new RangeFinder driver type adding a member in the "RangeFinder_Type" enum. (RangeFinder.h)
#Add the support for the sonar in the "void RangeFinder::detect_instance(uint8_t instance)" method so it can be detected. (RangeFinder.cpp)
#....(you tell me 師傅 (shifu))
= Datasheet =
The original datasheet is in Chinese, the following version was translated with Google Translate:
<pdf>File:WT81B003-0202-datasheet-google-translate-en.pdf</pdf>