Skip to content

AP_RangeFinder: Add GRF250/GRF500 serial driver #30043

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 5 commits into
base: master
Choose a base branch
from
Open

AP_RangeFinder: Add GRF250/GRF500 serial driver #30043

wants to merge 5 commits into from
+412 −44

Conversation

rishabsingh3003
Copy link
Contributor

@rishabsingh3003 rishabsingh3003 commented May 12, 2025 •
edited
Loading

This adds a serial driver for LightWare GRF series rangefindes: https://lightwarelidar.com/shop/grf-250/?

@rishabsingh3003 rishabsingh3003 changed the title AP_RangeFinder: Add GRF250 serial driver AP_RangeFinder: Add GRF250/GRF500 serial driver Jun 25, 2025
@rishabsingh3003 rishabsingh3003 marked this pull request as ready for review June 25, 2025 19:32
peterbarker
peterbarker requested changes Jun 26, 2025
View reviewed changes
Copy link
Contributor

@peterbarker peterbarker left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Partial review only, after I discovered we've already got this protocol implemented. Code re-use is good - we don't have vast amounts of flash at our disposal.

We should be able to re-use the entirety of AP_Proximity_LightWareSerial here, at the very least. AP_Proximity_LightWareSF45B::process_replies with a little bit of work, too.

The sensor configuration sequence looks rather required, but would definitely benefit from using base class methods from AP_Proximity_LightwareSerial

Our simulator for the SF45B is one of our better ones; factoring it to create a simulator for this device would be a good idea.

@rishabsingh3003
Copy link
Contributor Author

@peterbarker I have shifted the AP_Proximity_LightwareSerial out of AP_Proximity, hope that is an acceptable solution

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@rmackay9 rmackay9 Awaiting requested review from rmackay9

@peterbarker peterbarker Awaiting requested review from peterbarker

Requested changes must be addressed to merge this pull request.

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@rishabsingh3003 @peterbarker