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lightware_laser_i2c: add binary protocol support for SF30/d (#25570)

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Using the SF30/d with the legacy protocol caused a delay of the
measurements of ~1s. This is not the case with the binary protocol anymore.

The initialization sequence used for SF20/c did not work and is therefore
updated.

Tested on both SF20/c and SF30/d.
This commit is contained in:
Beat Küng
2025-09-24 22:17:25 +02:00
committed by GitHub
parent 26760e3c2c
commit a5c4cc38ac
3 changed files with 89 additions and 73 deletions
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docs/en/sensor/sfxx_lidar.md
+6 -5
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@@ -9,11 +9,12 @@ These are useful for applications including terrain following, precision hoverin
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 | Description |
| ---------------------------------------------------------- | --------- | ----------------- | ------------------------------------------------------------------------------------------ |
| [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)) |
| Model | Range (m) | Bus | Description |
| ------------------------------------------------------- | --------- | ----------------- | ------------------------------------------------------------------------------------------ |
| [SF11/C](https://lightwarelidar.com/shop/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 |
| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
::: details Discontinued