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III. Parameters Setup
3.1 Module type setup
PIXHAWK support four kinds of obstacle avoidance modules. SUI04 can be chosen by setting the
value of PRX_TYPE in Mission Planner(MP).
Setting steps:
1) Choose CONFIG/TUNING on the top of the interface.
2) click “Full Parameter List”on the left.
3) Input“PRX_TYPE”(obstacle avoidance module type) in search column at the lower right corner and press
“Enter”.
4) As the searched proximity sensor type shown in the MP, 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.
3.2 Setup the avoidance distance and the avoidance enable/disable
The avoidance distance of ultrasonic sensor SUI04 can bechanged by setting the value of AVOID_MARGIN.
AVOID_MARGIN: the max avoidance distance at LoiterMode, the unit is meter
The avoidance enable/disable of ultrasonic sensor SUI04 can be set by changing the value of AVOID_ENABLE.
AVOID_ENABLE: the value of AVOID_ENABLE0(options is None) means the avoidance function is off and the value
2(options is Use Proximity Sensor) means the avoidance function is on.
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