2014-09-15 15:40:17 -07:00
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# Sonar
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2014-10-15 01:32:57 -07:00
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A sonar sensor can be used to measure altitude for use with BARO and SONAR altitude
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hold modes.
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The sonar sensor is used instead of the pressure sensor (barometer) at low altitudes.
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2015-01-03 15:53:24 -08:00
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The sonar sensor is only used when the aircraft inclination angle (attitude) is small.
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2014-09-15 15:40:17 -07:00
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## Hardware
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Currently the only supported sensor is the HCSR04 sensor.
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## Connections
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### Naze/Flip32+
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2015-03-31 04:35:45 -07:00
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| Mode | Trigger | Echo | Inline 1k resistors |
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| ------------------------------- | ------------- | ------------- | ------------------- |
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| Parallel PWM/ADC current sensor | PB8 / Motor 5 | PB9 / Motor 6 | NO (5v tolerant) |
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| PPM/Serial RX | PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
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2014-09-15 15:40:17 -07:00
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2015-01-29 07:33:45 -08:00
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#### Constraints
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2014-09-15 15:40:17 -07:00
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Current meter cannot be used in conjunction with Parallel PWM and Sonar.
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### Olimexino
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| Trigger | Echo | Inline 1k resistors |
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| ------------- | ------------- | ------------------- |
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| PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
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2015-01-29 07:33:45 -08:00
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#### Constraints
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Current meter cannot be used in conjunction with Sonar.
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### CC3D
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| Trigger | Echo | Inline 1k resistors |
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| ------------- | ------------- | ------------------- |
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| PB5 | PB0 | YES (3.3v input) |
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2015-05-23 03:53:45 -07:00
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Sonar support is not available when using the OpenPilot bootloader (OPBL).
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2015-01-29 07:33:45 -08:00
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#### Constraints
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Sonar cannot be used in conjuction with SoftSerial or Parallel PWM.
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