Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-05-31 18:47:21 +08:00 · 2025-03-13 16:08:27 +11:00
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+# LightWare Lidar (SF1X/SF02/LW20/SF45)
+
+LightWare develops a range of light-weight, general purpose, laser altimeters ("Lidar") suitable for mounting on UAVs.
+These are useful for applications including terrain following, precision hovering (e.g. for photography), warning of regulatory height limits, anti-collision sensing etc.
+
+<img src="../../assets/hardware/sensors/lidar_lightware/sf11c_120_m.jpg" width="350px" alt="LightWare SF11/C Lidar"/>![LightWare SF45 rotating Lidar](../../assets/hardware/sensors/lidar_lightware/sf45.png)
+
+## Supported Models
+
+The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
+
+| Model                                                      | Range (m) | Bus               | 描述                                                                                                            |
+| ---------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
+| [SF11/C](https://lightwarelidar.com/products/sf11-c-100-m) | 100                          | Serial or I2C bus |                                                                                                               |
+| [LW20/C](https://lightware.co.za/products/lw20-c-100-m)    | 100                          | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
+| [SF45/B](../sensor/sf45_rotating_lidar.md)                 | 50                           | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+
+:::details
+Discontinued
+
+The following models are supported by PX4 but are no longer available from the manufacturer.
+
+| Model                                                                                              | 范围   | Bus           |                                                                                    |
+| -------------------------------------------------------------------------------------------------- | ---- | ------------- | ---------------------------------------------------------------------------------- |
+| [SF02](http://documents.lightware.co.za/SF02%20-%20Laser%20Rangefinder%20Manual%20-%20Rev%208.pdf) | 50   | Serial        |                                                                                    |
+| [SF10/A](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 25   | Serial or I2C |                                                                                    |
+| [SF10/B](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 50   | Serial or I2C |                                                                                    |
+| SF10/C                                                                                             | 100m | Serial or I2C |                                                                                    |
+| LW20/B                                                                                             | 50   | I2C bus       | Waterproofed (IP67) with servo for sense-and-avoid applications |
+
+:::
+
+## I2C Setup
+
+Check the tables above to confirm that which models can be connected to the I2C port.
+
+### Lidar Configuration (SF11/C)
+
+The SF11/C hardware (only) does not ship with Pixhawk I2C compatibility enabled by default.
+To enable support, you have to download [LightWare Studio](https://lightwarelidar.com/pages/lightware-studio) and got to **Parameters > Communication** and tick mark **I2C compatibility mode (Pixhawk)**
+
+![LightWare SF11/C Lidar-I2C Config](../../assets/hardware/sensors/lidar_lightware/lightware_studio_i2c_config.jpg)
+
+This step is not required for the other supported Lightware rangefinders.
+
+### 硬件
+
+Connect the Lidar the autopilot I2C port as shown below (in this case, for the [Pixhawk 1](../flight_controller/mro_pixhawk.md)).
+
+![SF1XX LIDAR to I2C connection](../../assets/hardware/sensors/lidar_lightware/sf1xx_i2c.jpg)
+
+:::info
+Some older revisions cannot be used with PX4.
+Specifically they may be miss-configured to have an I2C address equal to `0x55`, which conflicts with `rgbled` module.
+On Linux systems you may be able to determine the address using [i2cdetect](https://linux.die.net/man/8/i2cdetect).
+If the I2C address is equal to `0x66` the sensor can be used with PX4.
+:::
+
+### Parameter Setup {#i2c_parameter_setup}
+
+Set the [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) parameter to match the rangefinder model and then reboot.
+
+VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_reference.md#SF1XX_MODE) to `2: Disabled during VTOL fast forward flight`.
+
+## Serial Setup {#serial_hardware_setup}
+
+:::tip
+[SF45/B](../sensor/sf45_rotating_lidar.md) setup is covered in the linked document.
+:::
+
+### 硬件
+
+The lidar can be connected to any unused _serial port_ (UART), e.g.: TELEM2, TELEM3, GPS2 etc.
+
+<!-- Would be good to show serial setup! -->
+
+### Parameter Setup {#serial_parameter_setup}
+
+[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG).
+There is no need to set the baud rate for the port, as this is configured by the driver.
+
+:::info
+If the configuration parameter is not available in _QGroundControl_ then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware).
+:::
+
+Then set the [SENS_EN_SF0X](../advanced_config/parameter_reference.md#SENS_EN_SF0X) parameter to match the rangefinder model and reboot.
+
+VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_reference.md#SF1XX_MODE) to `2: Disabled during VTOL fast forward flight`.
+
+## 更多信息
+
+- [Modules Reference: Distance Sensor (Driver) : lightware_laser_i2c](../modules/modules_driver_distance_sensor.md#lightware-laser-i2c)
+- [Modules Reference: Distance Sensor (Driver) : lightware_laser_serial](../modules/modules_driver_distance_sensor.md#lightware-laser-serial)