Description
The VL53L1X is a state-of-the-art, Time-of-Flight (ToF), laser-ranging sensor, enhancing the ST FlightSense™ product family. It is the fastest miniature ToF sensor on the market with accurate ranging up to 4 m and fast ranging frequency up to 50 Hz
Features
- Fully integrated miniature module
– Emitter: 940 nm invisible laser (Class1)
– SPAD (single photon avalanche diode) receiving array with integrated lens
– Low-power microcontroller running advanced digital firmware
- Pin-to-pin compatible with the VL53L0X FlightSense™ ranging sensor
- Fast and accurate long distance ranging
– Up to 400 cm distance measurement
– Up to 50 Hz ranging frequency
- Typical full field-of-view (FoV): 27 °
- Programmable region-of-interest (ROI) size on the receiving array, allowing the sensor FoV to be reduced
- Programmable ROI position on the receiving array, providing multizone operation control from the host
- Easy integration
– Single reflowable component
– Can be hidden behind many cover window materials
– Software driver and code examples for turnkey ranging
– Single power supply (2v8)
– I²C interface (up to 400 kHz)
– Shutdown and interrupt pins
SPECIFICATIONS
- Working voltage: 3.3-5v
- Communication interface: I2C
- Dimensions: 25×10.7×3.2mm
- Weight: 2.4g
PIN OUTS
Package Included
1x VL53L1X
1x GH4P 200mm Cable(installed)
1x TPU Protective Case Shell
Connecting to the Autopilot
Connect the VCC, GND, SDA and SCL lines of the lidar to the I2C port on the autopilot as shown below for the first rangefinder.
Please set the rangefinder parameters as shown below (this can be done using the Mission Planner Config/Tuning | Full Parameter List page):
- RNGFND1_TYPE = 16 (VL53L0X)
- RNGFND1_ADDR = 41 (I2C Address of lidar in decimal). The sensor’s default I2C address is 0x29 hexadecimal which is 41 in decimal.
- RNGFND1_SCALING = 1
- RNGFND1_MIN = 0.05
- RNGFND1_MAX = 1.2 for the VL53L0X, 3.6 for the VL53L1X. This is the distance in meters that the rangefinder can reliably read.
- RNGFND1_GNDCLR = 0.1 or more accurately the distance in meters from the range finder to the ground when the vehicle is landed. This value depends on how you have mounted the rangefinder.
Testing the sensor
Distances read by the sensor can be seen in the Mission Planner’s Flight Data screen’s Status tab. Look closely for “sonarrange”.(The value of this image is not a real value.)
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