Common: add hexsoon radar

common/source/docs/common-master-features.rst

@@ -15,6 +15,7 @@ New Peripherals
 .. toctree::
     :maxdepth: 1
 
+    Hexsoon 77G MWW Radar <common-rangefinder-hexsoon-radar>
     CADDXFPV GM1, GM2, GM3 gimbals <common-caddx-gimbal>
 [/site]
 [site wiki="plane"]

common/source/docs/common-rangefinder-hexsoon-radar.rst

@@ -0,0 +1,59 @@
+.. _common-rangefinder-hexsoon-radar.rst:
+
+=====================
+Hexsoon 77G MWW Radar
+=====================
+
+The `Hexsoon HS77G MMW radar <http://www.hexsoon.com/en/list-4-27.html>`__ (available in `20m <http://www.hexsoon.com/en/product/product-84-684.html>`__, `40m <http://www.hexsoon.com/en/product/product-87-23.html>`__, and `80m <http://www.hexsoon.com/en/product/product-7-973.html>`__ versions) are 77Ghz-band radar useful for horizontal :ref:`object avoidance <common-object-avoidance-landing-page>`
+
+.. image:: ../../../images/hexsoon-radar-title.png
+    :target: ../_images/hexsoon-radar-title.png
+    :width: 450px
+
+.. note::
+
+    ArduPilot only supports the CAN versions of these sensors
+
+.. note::
+
+    Support is available in Copter and Rover versions 4.7 and higher
+
+Connecting to the Autopilot
+===========================
+
+Mount the radar to the vehicle so that the radar senses obstacles horizontally.  The power and communication wire should be to the right.
+
+.. image:: ../../../images/hexsoon-radar-autopilot.png
+    :target: ../_images/hexsoon-radar-autopilot.png
+    :width: 450px
+
+Connect the radar to the autopilot's CAN port as shown above and set the following parameters assuming the radar is connected to CAN1:
+
+- :ref:`CAN_P1_DRIVER <CAN_P1_DRIVER>` = 1 (First CAN driver)
+- :ref:`CAN_P1_BITRATE <CAN_P1_BITRATE>` = 500000
+- :ref:`CAN_D1_PROTOCOL <CAN_D1_PROTOCOL>` = 14 (RadarCAN)
+- :ref:`PRX1_TYPE <PRX1_TYPE>` = 18 (Hexsoon Radar)
+- :ref:`PRX1_YAW_CORR <PRX1_YAW_CORR>` = 0 (forward) if the radar is mounted pointing forwards
+
+After setting the above parameters reboot the autopilot
+
+Connecting Multiple Radar
+=========================
+
+Up to 3 radar may be connected to a single autopilot.  Please follow these steps:
+
+- Connect each radar's GND, CANL and CANH pins to one of the autopilot's CAN ports as shown above
+- Connect each radar's GND and VCC pins to an external BEC providing between 5V and 28V
+- Download and run the `configuration tool <http://www.hexsoon.com/en/download/download-11-748.html>`__ to set each radar's ID to a unique number
+- :ref:`PRX2_TYPE <PRX2_TYPE>` = 18 (Hexsoon Radar)
+- :ref:`PRX2_YAW_CORR <PRX2_YAW_CORR>` = angle that the 2nd radar is mounted at relative to the forward direction of the vehicle
+- :ref:`PRX3_TYPE <PRX2_TYPE>` = 18 (Hexsoon Radar)
+- :ref:`PRX3_YAW_CORR <PRX2_YAW_CORR>` = angle that the 3rd radar is mounted at relative to the forward direction of the vehicle
+
+More details on using this sensor for object avoidance on Copter can be found :ref:`here <common-object-avoidance-landing-page>`.
+
+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 "rangefinder1".