Question about the Multiranger

Discussions about autonomous flight in general, regardless of positioning method
Post Reply
tag2022
Beginner
Posts: 3
Joined: Thu May 05, 2022 3:27 am

Question about the Multiranger

Post by tag2022 »

Hello.
I have not been able to find exact information.
Does the Multiranger measure strictly straight in 5 directions? That is, the sensor has no viewing angle to measure the closest distance?

The reason I ask is that I would like to try to program collision avoidance based on data from Multiranger .
kristoffer
Bitcraze
Posts: 630
Joined: Tue Jun 30, 2015 7:47 am

Re: Question about the Multiranger

Post by kristoffer »

Hi!

The measurement is done along the x, y and z axis in a "cone", I think it is 27 degrees wide in the default settings. There are a bunch of settings to configure the sensors if you want to tweak it. You can find the spec of the sensors under the "specification" tab on this page https://www.bitcraze.io/products/multi-ranger-deck/

The multiranger code can be found in the multiranger.c file. The sensors are using default values, but a good place to change them is probably around here https://github.com/bitcraze/crazyflie-f ... #L115-L124

You can get some inspiration from the Z-ranger2 where we change some parameters https://github.com/bitcraze/crazyflie-f ... #L124-L125
Post Reply