Rangefinder distance scaling fixes

common/source/docs/common-aerotenna-usd1.rst

@@ -31,18 +31,18 @@ For a serial connection you can use any spare Serial/UART port.  The example bel
 -  :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 11 (USD1-Serial)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 50
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 4500
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimeters from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.5
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 45
+-  :ref:`RNGFND1_GNDCLR <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.*
 
 For the CAN version, connect via CAN to the autopilot and set the following parameters:
 
 -  :ref:`CAN_P1_DRIVER<CAN_P1_DRIVER>` =  1 (first can port driver set to driver 1)
 -  :ref:`CAN_D1_PROTOCOL<CAN_D1_PROTOCOL>` =  7 (USD1 protocol for driver 1)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 33 (USD1_CAN)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 50
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 4500
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimeters from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.5
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 45
+-  :ref:`RNGFND1_GNDCLR <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

common/source/docs/common-ainstein-lrd1.rst

@@ -30,9 +30,9 @@ For a serial connection you can use any spare Serial/UART port.  The example bel
 -  :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 42 (Ainstein_LR_D1)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 100
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 50000
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimeters from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 1.0
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 500
+-  :ref:`RNGFND1_GNDCLR <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
 ==================

common/source/docs/common-arkflow.rst

@@ -88,7 +88,7 @@ Connection to Autopilot
 To use the onboard lidar:
 
 - Set :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 24 (DroneCAN)
-- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 3000 to set range finder's maximum range to 30m
+- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 30 to set range finder's maximum range to 30m
 
 Additional Notes
 -----------------

common/source/docs/common-arkflow_mr.rst

@@ -88,7 +88,7 @@ Connection to Autopilot
 To use the onboard lidar:
 
 - Set :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 24 (DroneCAN)
-- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 5000 to set range finder's maximum range to 50m
+- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 50 to set range finder's maximum range to 50m
 
 Additional Notes
 -----------------

common/source/docs/common-benewake-tf02-lidar.rst

@@ -36,9 +36,9 @@ If the SERIAL4 is being used then the following parameters should be set for the
 -  :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 19 (Benewake TF02) for TF02, =20 (Benewake-Serial) for TF03 if Copter 3.6.12, =27 (Benewake TF03) for TF03 and TF02 Pro for Copter 4.0 and later, and =20 for TF-Luna. Note: using type = 20 on a TF03 will restrict its maximum range to that of a TF02.
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFMini, 10 for TFminiPlus and TF-Luna.
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>`: for TF02 use **2000** for indoor, **1000** for outdoor.  For TF03 use **3500** for indoor, **12000** for outdoor. For TF-Luna use **800** for indoor, **300** for outdoor. *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.3 for TFMini, 0.1 for TFminiPlus and TF-Luna.
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>`: for TF02 use **20** for indoor, **10** for outdoor.  For TF03 use **35** for indoor, **12** for outdoor. For TF-Luna use **8** for indoor, **3** for outdoor. *This is the distance in meters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 If instead the Telem2 port was used then the serial parameters listed above should instead be:
 

common/source/docs/common-benewake-tfmini-lidar.rst

@@ -32,9 +32,9 @@ If the SERIAL4 port on an autopilot is being used then the following parameters
 - :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
 - :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
 - :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 20 (Benewake-Serial)
-- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFmini, 10 for TFminiPlus
-- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **1000** for indoor use OR **600** for outdoors.  *This is the distance in centimeters that the rangefinder can reliably read.*
-- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.3 for TFmini, 0.1 for TFminiPlus
+- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **10** for indoor use OR **6** for outdoors.  *This is the distance in meters that the rangefinder can reliably read.*
+- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 Connecting using I2C
 --------------------
@@ -46,9 +46,9 @@ The diagram below shows how to connect to the autopilot's I2C port.
 
 - :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 25 (Benewake TFminiPlus-I2C)
 - :ref:`RNGFND1_ADDR<RNGFND1_ADDR>` = 16 (I2C address of lidar in decimal, equivalent to 0x10 hexadecimal)
-- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFmini, 10 for TFminiPlus
-- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **1000** for indoor use OR **600** for outdoors.  *This is the distance in centimeters that the rangefinder can reliably read.*
-- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.3 for TFmini, 0.1 for TFminiPlus
+- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **10** for indoor use OR **6** for outdoors.  *This is the distance in meters that the rangefinder can reliably read.*
+- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres 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
 ==================

common/source/docs/common-bluerobotics-ping.rst

@@ -29,8 +29,8 @@ If the SERIAL2 port on the autopilot is being used then the following parameters
 -  :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` = 115 (115200 baud)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 23 (BlueRoboticsPing)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 2600.  This is the distance in centimeters that the rangefinder can reliably read.
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.3
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 26.  This is the distance in meters that the rangefinder can reliably read.
 -  :ref:`RNGFND1_ORIENT <RNGFND1_ORIENT>` = 25 (down) if mounted on a boat
 
 PingViewer to test and upgrade the sensor

common/source/docs/common-echologger-ect400.rst

@@ -40,8 +40,8 @@ If the SERIAL2 is used then the following parameters should be set:
 Then the following range finder related parameters should be set:
 
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 17 (NMEA)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 13
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 10000 (i.e. 100m).  *This is the distance in centimeters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.13
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 100 (i.e. 100m).  *This is the distance in meters that the rangefinder can reliably read.*
 -  :ref:`RNGFND1_ORIENT <RNGFND1_ORIENT>` = 25 (i.e. down) if mounted on a boat
 
 Configuring the sensor

common/source/docs/common-hereflow.rst

@@ -37,7 +37,7 @@ Connection to Autopilot
 To use the onboard lidar (not recommended):
 
 - Set :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 24 (DroneCAN)
-- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 300 to set range finder's maximum range to 3m
+- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 3 to set range finder's maximum range to 3m
 
 Additional Notes
 -----------------

common/source/docs/common-hondex-sonar.rst

@@ -35,8 +35,8 @@ If the SERIAL2 is used then the following parameters should be set:
 The following range finder related parameters should also be set:
 
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 17 (NMEA)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 13
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 10000 (i.e. 100m).  *This is the distance in centimeters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.13
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 100 (i.e. 100m).  *This is the distance in meters that the rangefinder can reliably read.*
 -  :ref:`RNGFND1_ORIENT <RNGFND1_ORIENT>` = 25 (i.e. down) if mounted on a boat
 
 Testing the sensor

common/source/docs/common-jsn-sr04t.rst

@@ -18,8 +18,8 @@ Connection to the autopilot
 
 To setup as the first rangefinder. Reboot after setting parameters:
 
--  :ref:`RNGFND1_MAX<RNGFND1_MAX>` = "450" (i.e. 4.5m max range for v2.0 ver)
--  :ref:`RNGFND1_MIN<RNGFND1_MIN>` = "25" (i.e. 25cm min range for v2.0 ver)
+-  :ref:`RNGFND1_MAX<RNGFND1_MAX>` = "4.5" (i.e. 4.5m max range for v2.0 ver)
+-  :ref:`RNGFND1_MIN<RNGFND1_MIN>` = "0.25" (i.e. 0.25m min range for v2.0 ver)
 -  :ref:`RNGFND1_STOP_PIN<RNGFND1_STOP_PIN>` = Enter GPIO number for pin attached to JSN-SR04T "Trigger" pin. See :ref:`common-gpios`.
 -  :ref:`RNGFND1_PIN<RNGFND1_PIN>` = Enter GPIO number for pin attached to JSN-SR04T "Echo" pin.
 -  :ref:`RNGFND1_TYPE<RNGFND1_TYPE>` = “30" (HC-SR04 sonar)

common/source/docs/common-kogger-sonar.rst

@@ -61,8 +61,8 @@ The sensor can be connected to any available serial/uart port on the autopilot.
 Then the following range finder related parameters should be set:
 
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 17 (NMEA)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 5000 (i.e. 50m).  *This is the distance in centimeters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.3
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 50 (i.e. 50m).  *This is the distance in meters that the rangefinder can reliably read.*
 -  :ref:`RNGFND1_ORIENT <RNGFND1_ORIENT>` = 25 (i.e. down) if mounted on a boat
 
 

common/source/docs/common-leddar-one-lidar.rst

@@ -34,9 +34,9 @@ following parameters for the first rangefinder (this is done on the Mission Plan
 -  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115200
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 12 (LeddarOne)
 -  :ref:`RNGFND1_SCALING <RNGFND1_SCALING>` = 1
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 5
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **4000** (40m) *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.05
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **40** (40m) *This is the distance in meters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 If you instead were using the Telem2 port on the Pixhawk then you would set :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9, and :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` = 115200
 

common/source/docs/common-leddartech-leddarvu8-lidar.rst

@@ -27,9 +27,9 @@ The following parameters should be set
 -  :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` = 115 (115200 baud)
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 29 (LeddarVu8-Serial)
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 15
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 16000.  *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.15
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 160.  *This is the distance in meters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 If you instead were using the Serial4 port on the autopilot then you would set :ref:`SERIAL4_PROTOCOL <SERIAL2_PROTOCOL>` = 9, and :ref:`SERIAL4_BAUD <SERIAL2_BAUD>` to 115
 

common/source/docs/common-lightware-lw20-lidar.rst

@@ -34,9 +34,9 @@ following parameters if its the first rangefinder in the system (this can be don
 -  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud) for newer sensors, 19 (19200 baud) for sensors manufactured before mid 2018
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 8 (LightWareSerial)
 -  :ref:`RNGFND1_SCALING <RNGFND1_SCALING>` = 1
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 5
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **9500**.  *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.05
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **95**.  *This is the distance in meters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 If you instead were using the Telem2 port on the Pixhawk then you would set :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9, and :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` to 115 (115200 baud) or 19 (19200 baud)
 
@@ -59,9 +59,9 @@ You then need to configure the rangefinder parameters as shown below
 -  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 7 (LightWareI2C)
 -  :ref:`RNGFND1_ADDR <RNGFND1_ADDR>` = 102 (I2C Address of lidar in decimal).  *Note that this setting is in decimal. The default address is 0x66 hexadecimal which is 102 in decimal.*
 -  :ref:`RNGFND1_SCALING <RNGFND1_SCALING>` = 1
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 5
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **9500**.  *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+-  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 0.05
+-  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **95**.  *This is the distance in meters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 0.1 *or more accurately the distance in metres 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
 ==================