Advertisement
Quick Links
www.radiolink.com
Introduction：
SUI04 is a ultrasonic ranging sensor transceiver and compatible with PIXHAWK and MINI PIX. It
helps drones achieve autonomously omnibearing obstacle avoidance including 4 horizontal
directions, upward side and altitude hold downward. The detection distance of SUI04 is 40cm to
450cm.
Function One：Obstacle Avoidance
I. Firmware support
Obstacle avoidance firmwares are available with the below 2 links then uploaded to the flight
controller (PIXHAWK/ MINI PIX) by Mission Planner.
WARNING: Other firmwares do not support this obstacle avoidance function.
Notice: RADIOLINK firmwares are modified from Copter V3.5.7. When it's uploaded, the previous
functions and parameters are remained and there's no need to readjust.
MINIPIX firmware link as below:
http://www.radiolink.com.cn/firmware/Copter/ultrasonic_avoid/Multiple/minipix.px4
Ultrasonic Sensor SUI04
User Manual
Parameters:
Size: 20*22*19mm
Weight: 8g (with wires)
Input voltage: 4.5~5.5V(do not support HV)
Current: 18mA@5V
Power: 90mA
Operating temperature: -20°C~80°C
Detection distance: 40cm~450cm
Detecting precision: 0.1cm
Acoustic emission frequency: 40±1.0KHz
Beam angle: 60°(transmitting receiving hybrid)
Fade area: 0 (it will show 40cm)
Output protocol: I2C
Duty Cycle: 30ms
- 1 -
RADIOLINK ELETRONIC LIMITED
Advertisement
Summary of Contents for RadioLink SUI04
- Page 1 Duty Cycle: 30ms Introduction： SUI04 is a ultrasonic ranging sensor transceiver and compatible with PIXHAWK and MINI PIX. It helps drones achieve autonomously omnibearing obstacle avoidance including 4 horizontal directions, upward side and altitude hold downward. The detection distance of SUI04 is 40cm to 450cm.
- Page 2 2.1.2 Connecting with PIXHAWK by I2C wiring board 2 wires of 4 pin to 4 pin are needed: one for connecting I2C port of PIXHAWK and I2C wiring board; one for connecting I2C wiring board and SUI04 - 2 -...
- Page 3 WARNING: NO memory card inside. 2.2.1 Individually with MINIPIX A 4 pin to 6 pin wire is needed: the 4 pin end to SUI04 and the 6 pin end to the GPS port of MINIPIX 2.2.2 Connecting with MINIPIX by I2C wiring board 1.
- Page 4 AVOID_MARGIN: the max avoidance distance at LoiterMode, the unit is meter The avoidance enable/disable of ultrasonic sensor SUI04 can be set by changing the value of AVOID_ENABLE. AVOID_ENABLE: the value of AVOID_ENABLE0(options is None) means the avoidance function is off and the value 2(options is Use Proximity Sensor) means the avoidance function is on.
- Page 5 RADIOLINK ELETRONIC LIMITED www.radiolink.com Parameters Setting Steps on MP: 1) Choose CONFIG/TUNING on the top of the interface 2) Click “Full Parameter Tree” 3) Click the “AVOID”, the parameters of “AVOID_ENABLE” and “AVOID_MARGIN”are shown 4) Set the value of the AVOID_ENABLE 2(use proximity sensor) means make avoidance sensor enable 5) Set the value of AVOID_MARGIN 3(3 meters, the effective value is from 1 to 10) means vehicle will attempt to stay at least in 1 to 10 meters from objects while in GPS modes.
- Page 6 RADIOLINK ELETRONIC LIMITED www.radiolink.com the lower right corner and press “Enter” 4) As the searched CH7_OPT shown in the MP, change the value to 40 (Object Avoidance).It means switchon/off CH7 enable/disable the avoidance function. 5) Click “Write Params”on the right to save the parameters when the setting is complete.
- Page 7 Mission Planner. When the MP is connecting, a new interface (as shown below) will come out automatically and the working condition of SUI04 can be checked . If it doesn’t come out, please click the icon at the task bar on the desktop.
- Page 8 ( Current direction: Forward ) ( Current direction: Right) 6. Flight Modes Flight modes need to setup after the parameters of PIXHAWK have been set and the Ultrasonic Sensor SUI04 works , the basic flight modes include 1: Stabilize, 2: Loiter. 7. Working Condition WARNING:Reconnect the PIXHAWK and restart the MP after following all the above steps to ensure the successful parameters setup for failsafe.
- Page 9 When obstacles detected, the LED of SUI04 is always on; When no obstacle detected, the LED of SUI04 keeps flashing. If connection is successfully done, the LED of SUI04 will flash 4 to 6 times and be off when power on.Then always on after the initialization.
- Page 10 The ultrasonic shown in the above pic is under unusual working condition.The possible reasons are: PRX_TYPE value is set wrong PRX_TYPE value is set 4, but SUI04 is not connected. If SUI04 need to be turned off, PRX_TYPE value should be set 0.
- Page 11 RADIOLINK ELETRONIC LIMITED www.radiolink.com 1) DataFlash Logs Download Connect the flight controller with MP and follow the below steps to download DataFlash Logs Clickthe logs download 2) Log check Open the log files Click the log review and open the log...
- Page 12 The Alt-Holddownward function is same as the obstacle avoidance function, the direction of SUI04 downward can be setup by pressing the same button. Press the button 5 times and the LED flashes 5 times, and the direction of SUI04 is set downward. 1.1 With PIXHAWK 1.1.1 Individually with PIXHAWK...
- Page 13 2. Take a 4 pin to 4 pin wire with one end to the I2C expansion board and one end to the I2C wiring board. 3. Take another 4 pin to 4 pin wire with one end to the I2C wiring board and one end to the SUI04 - 13 -...
-
Page 14: Parameters Setup
The alt-hold function is same as the obstacle avoidance function, the direction of SUI04 downward can be setup by pressing the same button. Press the button 5 times and the LED flashes 5 times, and the direction of SUI04 is set upward. II. Parameters Setup Module type setup Click “INITIAL SETUP”on the top... - Page 15 This setup depends on users’habit and is optional. The Alt-Hold function of SUI04 is always automatically enabled at Alt-Hold Mode and Post-Hold Mode by default anddisabled ifchange to Stabilize Mode. If users preferenabling/disabling the Alt-Hold function by transmitter, setup in the Mission Planner is necessary.
- Page 16 RADIOLINK ELETRONIC LIMITED www.radiolink.com Transmitter settings Choose a 2-position switch to control CH8 Choose INITIAL SETUP on the top of the interface of MP Click “FailSafe” in the pull-down menu of “ Madatory Harware” on the left and the interface of CH8 PWM value is shown Toggle the switch.