RadioLink SUI04 Manual
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RadioLink SUI04 Manual

RadioLink SUI04 Manual

Ultrasonic sensor of overall obstacle avoidance adaptable to multirotor
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SUI04
Ultrasonic Sensor of Overall Obstacle Avoidance
Adaptable to Multirotor

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Summary of Contents for RadioLink SUI04

  • Page 1 SUI04 Ultrasonic Sensor of Overall Obstacle Avoidance Adaptable to Multirotor...

  • Page 2: Table Of Contents

    1.4.1 Button Setup ..........................11 1.4.2 Parameter Setup ......................... 11 1.4.3 Data Display ..........................12 Chapter 2. Set Mini Pix/PIXHAWK to Work with SUI04 ..................15 2.1 Obstacle Avoidance ..........................15 2.1.1 Firmware Support ........................15 2.1.2 How to Connect ...........................15 2.1.3 Parameters Setup ........................17...

  • Page 3: Chapter 1. Set Crossflight/Crossrace To Work With Sui04

    Connect to CrossFlight: SUI04 comes with a cable to connect CrossFlight/Mini Pix flight controller(4 Pin to 6 Pin). The 4 Pin end is connected to SUI04, and the 6 Pin end is connected to the GPS port of CrossFlight, as shown below: Connect to CrossRace: Use the same cable as CrossFlight(4 Pin to 6 Pin).

  • Page 4: Connect Sui 04 To Crossflight/Crossrace By I2C Transfer Board

    GPS port of CrossFlight, and the other end to the I2C transfer board. Then use the 12C/PIXHAWK connect cable that comes with SUI04 (4 Pin to 4 Pin) to connect one end to the I2C transfer board, and the other...

  • Page 5: Data View

    RNGFND1_MAX_CM is the maximum distance in centimeters that rangefinder can reliably read. RNGFND1_MIN_CM is the minimum distance in centimeters that rangefinder can reliably read. When the distance sent by SUI04 exceeds 43~450cm, the flight control will not recognize the distance of SUI04, so it will achieve the alt-hold by the barometer.
  • Page 6 2. View ultrasonic data in the Tuning interface. Check the Tuning option in Mission Planner. Double-click the dynamic table, and select sonarrange in the list to display the dynamic waveform of ultrasonic data. As shown below:...

  • Page 7: Obstacle Avoidance

    The SUI04 module can realize obstacle avoidance in four directions (front, rear, left and right). The directions can be changed by pressing the button on SUI04. The default direction of the module is forward. Each time the button is pressed, the direction of the module changes clockwise, and the module LED flashes.
  • Page 8 2. Search RNGFND1 in Full Parameter List. Modify RNGFND1_ADDR to 116, RNGFND1_MAX_CM to 450, RNGFND1_MIN_CM to 43, and RNGFND1_ORIENT to 0. (0 indicates that the ultrasonic direction is forward) As shown below: 3. Search RNGFND2 in Full Parameter List. Modify RNGFND2_ADDR to 113, RNGFND2_MAX_CM to 450, RNGFND2_MIN_CM to 43, and RNGFND2_ORIENT to 2 (2 indicates that the ultrasonic direction is to the right) As shown below: 4.

  • Page 9: Set The Avoidance Distance And Avoidance Enable/Disable

    1.3.3 Set the Avoidance Distance and Avoidance Enable/disable 1. The obstacle avoidance distance of SUI04 can be set by changing the value of AVOID_MARGIN. AVOID_MARGIN: Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS mode.

  • Page 10: Data Display

    Choose a 2-position switch to control CH7. Connect Mission Planner. Enter SETUP-- Mandatory Hardware--FailSafe. The PWM value of CH7 is shown. Toggle the switch of CH7. If the PWM value of CH7 is more than 1800, it means the avoidance function is enabled when the switch is at the position.

  • Page 11: Collision Avoidance Upward

    The collision avoidance upward function is the same as the obstacle avoidance function, the direction of SUI04 upward can be setup by pressing the same button. Press the button 6 times and the LED flashes 6 times, and the direction of SUI04 is set upward. The corresponding collision avoidance distance can be set by the value of AVOID_MARGIN as the previous steps instructed.

  • Page 12: Data Display

    2. Search RNGFND in Full Parameter List. Modify RNGFNDx_ADDR (x represents the ultrasonic serial number) to 117, RNGFNDx_MAX_CM to 450, RNGFNDx_MIN_CM to 43, and RNGFNDx_ORIENT to 24. (24 indicates that the ultrasonic direction is forward) As shown below: 1.4.3 Data Display As only the horizontal distances are available on the data check interface, upward data can only be checked on DataFlash Logs.
  • Page 13 Click the logs you want to view, and click Download these logs to download the selected logs. 2. Log Check Click Review a Log and open the log.
  • Page 14 Follow steps 1 and 2 in the picture below. The data shown in the chart is the distance of objects detected by SUI04.

  • Page 15: Chapter 2. Set Mini Pix/Pixhawk To Work With Sui04

    4 pin wire. 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.
  • Page 16 With Mini Pix WARNING: NO memory card inside When connection. Individually connect with Mini Pix: one 4 pin to 6 pin wire is needed: the 4 pin end to SUI04 and the 6 pin end to the GPS port of Mini Pix.

  • Page 17: Parameters Setup

    (4) As the searched proximity sensor type shown in the Mission Planner, change the proximity sensor type value to 4 ( that is , the chosen module type is Range Finder,which is SUI04 ). (5) Click “Write Params”on the right to save the parameters when the setting is complete.
  • Page 18 Parameters Setting Steps on Mission Planner: (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 19 (4) As the searched CH7_OPT shown in the Mission Planner, 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. Transmitter setting steps (1) Choose a 2-position switch(the SWA of AT9S for example) to control CH7.

  • Page 20: Button Functions Of Sui04

    PIXHAWK and restart the Mission Planner. When the Mission Planner 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 21: Flight Modes

    2.1.6 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. 2.1.7 Working Condition WARNING: Reconnect the PIXHAWK and restart the Mission Planner after following all the above steps to ensure the successful parameters setup for failsafe.

  • Page 22: Notices

    (4) When obstacles detected, the LED of SUI04 is always on; When no obstacle detected, the LED of SUI04 keeps flashing. (5) 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 23: Collision Avoidance Upward

    The ultrasonic shown in the above pic is under unusual working condition.The possible reasons are: a. PRX_TYPE value is set wrong. b. 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 24 1) DataFlash Logs Download Connect the flight controller with Mission Planner and follow the below steps to download DataFlash Logs. Click the logs and download. 2) Log check Open the log files. Click the log review and open the log.

  • Page 25: Alt-Hold Function

    The Alt-Hold downward 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. 2.3.2 Parameters Setup Module type setup: (1) Click “INITIAL SETUP”on the top.

  • Page 26: How To Enable/Disable The Alt-Hold Function By Transmitter(Optional)

    2.3.2 How to Enable/Disable the Alt-Hold function by transmitter(Optional) 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...
  • Page 27 Flight Controller Setting steps (CH8_OPT Parameters): (1) Choose CONFIG/TUNING on the top of the interface. (2) Click “Full Parameter List”on the left. (3) Input“CH8_OPT”(choose the CH8to make the Alt-Hold function enable or disable) in search column at the lower right corner and press “Enter”. (4) As the searched CH8_OPT shown in the Mission Planner, change the value to10 (Object Alt-Hold).It means switchon/off CH7 enable/disable the avoidance function.

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