{"id":10735,"date":"2025-11-17T01:05:11","date_gmt":"2025-11-17T09:05:11","guid":{"rendered":"https:\/\/sunflaser.com\/?p=10735"},"modified":"2026-06-18T02:32:44","modified_gmt":"2026-06-18T09:32:44","slug":"how-to-integrate-sfa2000b-laser-rangefinder-module-into-drone-flight-controllers-via-ardupilot-ap-firmware","status":"publish","type":"post","link":"https:\/\/sunflaser.com\/fr\/how-to-integrate-sfa2000b-laser-rangefinder-module-into-drone-flight-controllers-via-ardupilot-ap-firmware\/","title":{"rendered":"Comment int\u00e9grer le module de t\u00e9l\u00e9m\u00e8tre laser SFA2000B dans les contr\u00f4leurs de vol de drone via le micrologiciel ArduPilot (AP)"},"content":{"rendered":"<p>Pour les passionn\u00e9s de drones, les ing\u00e9nieurs et les op\u00e9rateurs de drones commerciaux, l'int\u00e9gration d'un t\u00e9l\u00e9m\u00e8tre haute performance comme le\u00a0<strong>SFA2000B<\/strong>\u00a0L'int\u00e9gration de la SFA2000B dans le syst\u00e8me de vol de votre drone est essentielle pour des t\u00e2ches telles que l'atterrissage de pr\u00e9cision, l'\u00e9vitement d'obstacles et le maintien de l'altitude. Le SFA2000B, avec sa port\u00e9e maximale de 2000m (de nuit), son alimentation 3.3V-5V et sa communication s\u00e9rie TTL, offre une utilit\u00e9 exceptionnelle, mais il n\u00e9cessite des \u00e9tapes sp\u00e9cifiques pour fonctionner avec le SFA2000B.\u00a0<strong>Firmware ArduPilot (AP)<\/strong>\u00a0(le firmware open source le plus populaire pour les drones). Dans ce guide, nous allons d\u00e9composer le processus en\u00a0<strong>configuration du mat\u00e9riel, adaptation du protocole, configuration du micrologiciel de l'AP et validation<\/strong>-Avec des \u00e9tapes concr\u00e8tes, des diagrammes et des conseils de d\u00e9pannage pour assurer une int\u00e9gration en douceur. Que vous soyez un amateur utilisant un contr\u00f4leur de vol Pixhawk ou un professionnel construisant un drone commercial, cet article vous aidera \u00e0 relier la SFA2000B au cerveau de votre drone.<\/p>\n<h3>Pr\u00e9paratifs essentiels avant l'int\u00e9gration<\/h3>\n<p>Avant de vous lancer dans le c\u00e2blage et le codage, v\u00e9rifiez que vous disposez de tous les outils et composants n\u00e9cessaires. Sauter cette \u00e9tape conduit souvent \u00e0 des erreurs \u00e9vitables (par exemple, des modules grill\u00e9s ou aucune transmission de donn\u00e9es).<\/p>\n<h4>1.1 Composants requis<\/h4>\n<table id=\"eael-data-table-ce9a21d\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Composant<\/th>\n<th id=\"\" colspan=\"\">Sp\u00e9cifications et objectifs<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">T\u00e9l\u00e9m\u00e8tre laser<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Interface s\u00e9rie TTL (3,3V), connecteur 0,8WTB-6Y-2, port\u00e9e minimale de 3m, vitesse de transmission par d\u00e9faut de 115200bps<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">Contr\u00f4leur de vol compatible AP<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Pixhawk 2.4.8\/4\/6 (le plus courant), avec au moins un port UART libre (par ex. TELEM2, GPS2)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">Adaptateur USB-TTL (CH340)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Pour tester la communication s\u00e9rie du CDF2000B avant de le connecter au contr\u00f4leur de vol.<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">Fils blind\u00e9s Dupont<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">R\u00e9duire les interf\u00e9rences \u00e9lectromagn\u00e9tiques (EMI) provenant des moteurs\/ESC du drone.<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">Module d'alimentation externe 3,3V\/1A (en option)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Si le port 3.3V du contr\u00f4leur de vol ne peut pas fournir 500mA (le courant de d\u00e9marrage maximum du SFA2000B)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>1.2 Outils logiciels<\/h4>\n<ul>\n<li><strong>Planificateur de mission<\/strong>: La station sol officielle pour ArduPilot (t\u00e9l\u00e9charger)\u00a0<a href=\"https:\/\/ardupilot.org\/planner\/\" target=\"_blank\" rel=\"noopener\">ici<\/a>). Permet de configurer les param\u00e8tres du contr\u00f4leur de vol et de valider les donn\u00e9es.<\/li>\n<li><strong>SSCOM\/SecureCRT<\/strong>: Outils de d\u00e9bogage s\u00e9rie pour tester le protocole du CDF2000B (envoi de commandes, v\u00e9rification des donn\u00e9es de distance).<\/li>\n<li><strong>Code source ArduPilot (optionnel)<\/strong>: Pour les utilisateurs avanc\u00e9s qui ont besoin de compiler un micrologiciel personnalis\u00e9 (par exemple, une port\u00e9e continue de 10 Hz).<\/li>\n<\/ul>\n<h5>\u00c9tape 1 : Test du protocole s\u00e9rie du SFA2000B (critique !)<\/h5>\n<p>Le SFA2000B utilise un\u00a0<strong>protocole hexad\u00e9cimal personnalis\u00e9<\/strong>\u00a0(et non MAVLink, la langue maternelle d'ArduPilot). Tout d'abord, confirmez que le module fonctionne de mani\u00e8re autonome afin d'exclure tout d\u00e9faut mat\u00e9riel.<\/p>\n<h6>1.1 Connecter le SFA2000B \u00e0 un adaptateur USB-TTL<\/h6>\n<p>Connectez le module \u00e0 votre ordinateur \u00e0 l'aide d'un adaptateur USB-TTL. Suivez le brochage de la fiche technique du SFA2000B :<\/p>\n<table id=\"eael-data-table-920f418\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Broche de l'adaptateur USB-TTL<\/th>\n<th id=\"\" colspan=\"\">SFA2000B Broche<\/th>\n<th id=\"\" colspan=\"\">Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">3.3V<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 5 (VCC)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Alimenter le module (ne jamais utiliser 5V - risque de br\u00fblure !)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">GND<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 6 (GND)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Terrain d'entente (essentiel pour une communication stable)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">TXD<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 2 (RXD)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">L'ordinateur envoie des commandes au CDF2000B<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RXD<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 3 (TXD)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Le SFA2000B envoie les donn\u00e9es de distance \u00e0 l'ordinateur<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img fetchpriority=\"high\" decoding=\"async\" src=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Wiring-diagram-for-SFA2000B-USB-TTL-adapter.-Label-pins-clearly-to-avoid-reverse-polarity.png\" sizes=\"(max-width: 345px) 100vw, 345px\" srcset=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Wiring-diagram-for-SFA2000B-USB-TTL-adapter.-Label-pins-clearly-to-avoid-reverse-polarity.png 345w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Wiring-diagram-for-SFA2000B-USB-TTL-adapter.-Label-pins-clearly-to-avoid-reverse-polarity-300x261.png 300w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Wiring-diagram-for-SFA2000B-USB-TTL-adapter.-Label-pins-clearly-to-avoid-reverse-polarity-14x12.png 14w\" alt=\"Wiring diagram showing SFA2000B laser rangefinder connected to a CH340 USB-TTL adapter, with pin labels for 3.3V, GND, TXD, and RXD.\" width=\"345\" height=\"300\" \/><\/p>\n<h6>1.2 Envoi de commandes et v\u00e9rification des donn\u00e9es<\/h6>\n<p>Ouvrez SSCOM et configurez le port s\u00e9rie :<\/p>\n<ul>\n<li>Vitesse de transmission : 115200bps<\/li>\n<li>Bits de donn\u00e9es : 8, bits d'arr\u00eat : 1, Parit\u00e9 : Aucune<\/li>\n<li>Cochez les cases \u201cEnvoi d'hexagones\u201d et \u201cAffichage d'hexagones\u201d<\/li>\n<\/ul>\n<p><strong>Essai 1 : Commande de t\u00e9l\u00e9m\u00e9trie unique<\/strong><\/p>\n<p>Envoyer le\u00a0<strong>commande \u00e0 un coup<\/strong>\u00a0(extrait de la fiche technique du SFA2000B) :<\/p>\n<pre data-line=\"\"><code>\n\t\t\t\t\t\n\t\t\t\t<\/code><\/pre>\n<p>Le module renvoie une r\u00e9ponse du type<\/p>\n<pre data-line=\"\"><code>\n\t\t\t\t\t\n\t\t\t\t<\/code><\/pre>\n<ul>\n<li><code>55 AA<\/code>: En-t\u00eate de la trame (confirme la validit\u00e9 des donn\u00e9es)<\/li>\n<li><code>01<\/code>: Statut (1 = succ\u00e8s, 0 = \u00e9chec)<\/li>\n<li><code>4E 23<\/code>: Donn\u00e9es relatives \u00e0 la distance (hex \u2192 d\u00e9cimal = 20003 \u2192 diviser par 10 \u2192 2000.3m)<\/li>\n<li><code>C8<\/code>: Somme de contr\u00f4le (validation : additionner les octets 1-7, prendre les 8 derniers bits)<\/li>\n<\/ul>\n<p>Si la r\u00e9ponse indique une distance valide (correspondant \u00e0 la distance r\u00e9elle de la cible), le module fonctionne. Si ce n'est pas le cas, v\u00e9rifiez le c\u00e2blage ou contactez le fabricant (le SFA2000B b\u00e9n\u00e9ficie d'une garantie d'un an).<\/p>\n<h5>\u00c9tape 2 : C\u00e2bler le SFA2000B au contr\u00f4leur de vol<\/h5>\n<p>Connectez maintenant le module au port UART libre du contr\u00f4leur de vol (nous utiliserons TELEM2 pour cet exemple).<\/p>\n<h6>2.1 Sch\u00e9ma de c\u00e2blage (Pixhawk 4 + SFA2000B)<\/h6>\n<table id=\"eael-data-table-8b81706\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Pixhawk 4 TELEM2 Pin<\/th>\n<th id=\"\" colspan=\"\">SFA2000B Broche<\/th>\n<th id=\"\" colspan=\"\">Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">3.3V<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 5 (VCC)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Alimentation (utiliser un port externe 3,3V\/1A si le port 3,3V n'est pas assez puissant)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">GND<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 6 (GND)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Terrain d'entente<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">TX (Envoi du contr\u00f4leur de vol)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 2 (RXD)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Le contr\u00f4leur de vol envoie des commandes de t\u00e9l\u00e9m\u00e9trie au module<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RX (r\u00e9ception du contr\u00f4leur de vol)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Broche 3 (TXD)<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Le contr\u00f4leur de vol re\u00e7oit les donn\u00e9es de distance du module<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img decoding=\"async\" src=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Pixhawk_with_legend.jpg\" sizes=\"(max-width: 700px) 100vw, 700px\" srcset=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Pixhawk_with_legend.jpg 700w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Pixhawk_with_legend-202x300.jpg 202w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Pixhawk_with_legend-691x1024.jpg 691w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/11\/Pixhawk_with_legend-8x12.jpg 8w\" alt=\"Wiring diagram of SFA2000B laser rangefinder connected to Pixhawk 4 flight controller\u2019s TELEM2 port, with labels for power, ground, TX, and RX.\" width=\"700\" height=\"1038\" \/><\/p>\n<h6>2.2 Conseils essentiels en mati\u00e8re de c\u00e2blage<\/h6>\n<ul>\n<li><strong>Fils blind\u00e9s<\/strong>: Utilisez des c\u00e2bles blind\u00e9s pour TX\/RX afin de r\u00e9duire les interf\u00e9rences \u00e9lectromagn\u00e9tiques provenant des moteurs (les c\u00e2bles non blind\u00e9s entra\u00eenent une alt\u00e9ration des donn\u00e9es).<\/li>\n<li><strong>Isolation de la puissance<\/strong>: Si le port 3.3V du contr\u00f4leur de vol ne peut pas fournir 500mA, connectez un module externe 3.3V\/1A (par exemple, un r\u00e9gulateur abaisseur 3.3V Pololu) pour \u00e9viter les baisses de tension.<\/li>\n<li><strong>Protection des broches<\/strong>: Recouvrez les broches non utilis\u00e9es (par exemple, Pin 1 : Power-EN) avec du ruban adh\u00e9sif pour \u00e9viter les courts-circuits.<\/li>\n<\/ul>\n<h5>\u00c9tape 3 : Configuration des param\u00e8tres du micrologiciel ArduPilot (AP)<\/h5>\n<p>ArduPilot ne supporte pas nativement le protocole du SFA2000B, nous utiliserons donc le protocole\u00a0<strong>Capteur s\u00e9riel personnalis\u00e9<\/strong>\u00a0(AP 4.3.0+) pour transmettre les donn\u00e9es du module au contr\u00f4leur de vol.<\/p>\n<h6>3.1 Connecter le planificateur de missions au contr\u00f4leur de vol<\/h6>\n<ol>\n<li>Alimentez le contr\u00f4leur de vol et connectez-le \u00e0 votre ordinateur via USB.<\/li>\n<li>Ouvrez le planificateur de missions \u2192 S\u00e9lectionnez le port COM correct \u2192 Cliquez sur \u201cConnecter\u201d.<\/li>\n<li>Aller \u00e0 la page\u00a0<strong>Config\/Tuning \u2192 Arbre de param\u00e8tres complet<\/strong>\u00a0(c'est l\u00e0 que nous modifierons tous les param\u00e8tres).<\/li>\n<\/ol>\n<h6>3.2 Configuration du port UART (TELEM2)<\/h6>\n<p>Tout d'abord, configurez le port TELEM2 du contr\u00f4leur de vol pour qu'il communique avec le CDF2000B :<\/p>\n<table id=\"eael-data-table-feb3449\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Param\u00e8tres<\/th>\n<th id=\"\" colspan=\"\">Valeur<\/th>\n<th id=\"\" colspan=\"\">Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">SERIAL2_BAUD<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">115200<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Correspondre \u00e0 la vitesse de transmission par d\u00e9faut du CDF2000B<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">PROTOCOLE_S\u00c9RIE2<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">23<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Activez le mode \u201c Capteur personnalis\u00e9 \u201d (tr\u00e8s important !)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">SERIAL2_OPTIONS<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\"><\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Pas d'options sp\u00e9ciales (r\u00e9gler \u00e0 1024 si l'EMI est un probl\u00e8me)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h6>3.3 Configuration du t\u00e9l\u00e9m\u00e8tre (RangeFinder1)<\/h6>\n<p>Ensuite, indiquez \u00e0 ArduPilot de traiter le SFA2000B comme un t\u00e9l\u00e9m\u00e8tre :<\/p>\n<table id=\"eael-data-table-9566e7c\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Param\u00e8tres<\/th>\n<th id=\"\" colspan=\"\">Valeur<\/th>\n<th id=\"\" colspan=\"\">Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RNGFND1_TYPE<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">32<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">S\u00e9lectionnez \u201c S\u00e9rie personnalis\u00e9e \u201d (pour les protocoles personnalis\u00e9s)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RNGFND1_MIN_CM<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">300<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Port\u00e9e minimale (3m = 300cm, correspond \u00e0 la zone aveugle du SFA2000B)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RNGFND1_MAX_CM<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">200000<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Port\u00e9e maximale (2000m = 200000cm)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RNGFND1_SCALE<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">0.1<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Convertir les donn\u00e9es du module (diviser par 10 : 20003 \u2192 2000.3m)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">RNGFND1_ORIENT<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">25<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Orientation du montage (25 = vers le bas, pour le maintien de l'altitude ; 0 = vers l'avant pour l'\u00e9vitement des obstacles)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h6>3.4 D\u00e9finir le format des donn\u00e9es du CDF2000B<\/h6>\n<p>Enfin, apprenez \u00e0 ArduPilot \u00e0 analyser la r\u00e9ponse hexad\u00e9cimale du SFA2000B (frame :\u00a0<code>55 AA 88 01 FF XX XX YY<\/code>):<\/p>\n<table id=\"eael-data-table-8701795\">\n<thead>\n<tr>\n<th id=\"\" colspan=\"\">Param\u00e8tres<\/th>\n<th id=\"\" colspan=\"\">Valeur<\/th>\n<th id=\"\" colspan=\"\">Description<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_SENSOR_TYPE<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">1<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Type de capteur = T\u00e9l\u00e9m\u00e8tre<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_SERIAL_PORT<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">2<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Utiliser TELEM2 (port 2) pour la communication<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_DATA_LEN<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">8<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">La r\u00e9ponse du SFA2000B est longue de 8 octets<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_HEADER1<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">0x55<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Premier octet de l'en-t\u00eate de la trame<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_HEADER2<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">0xAA<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Deuxi\u00e8me octet de l'en-t\u00eate de la trame<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_DATA_OFFSET<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">5<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Les donn\u00e9es relatives \u00e0 la distance commencent \u00e0 l'octet 5 (XX dans la trame)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_DATA_BYTES<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">2<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Les donn\u00e9es de distance sont de 2 octets (16 bits)<\/td>\n<\/tr>\n<tr>\n<td id=\"\" colspan=\"\" rowspan=\"\">CUST_ENDIAN<\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\"><\/td>\n<td id=\"\" colspan=\"\" rowspan=\"\">Little-endian (v\u00e9rifiez avec votre module - la plupart des unit\u00e9s SFA2000B utilisent little-endian)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img decoding=\"async\" src=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/10\/SFA2000B1.jpg\" sizes=\"(max-width: 800px) 100vw, 800px\" srcset=\"https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/10\/SFA2000B1.jpg 800w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/10\/SFA2000B1-300x300.jpg 300w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/10\/SFA2000B1-150x150.jpg 150w, https:\/\/sunflaser.com\/wp-content\/uploads\/2025\/10\/SFA2000B1-768x768.jpg 768w\" alt=\"Screenshot of Mission Planner\u2019s Full Parameter Tree showing custom sensor parameters (CUST_HEADER1, CUST_DATA_OFFSET) configured for the SFA2000B rangefinder.\" width=\"800\" height=\"800\" \/><\/p>\n<h5>\u00c9tape 4 : Envoi de commandes de t\u00e9l\u00e9m\u00e9trie \u00e0 partir du contr\u00f4leur de vol<\/h5>\n<p>Le CDF2000B n'enverra pas de donn\u00e9es s'il ne re\u00e7oit pas de commande. Nous utiliserons la commande ArduPilot\u00a0<strong>Script Lua<\/strong>\u00a0pour que le contr\u00f4leur de vol envoie des commandes automatiquement.<\/p>\n<h6>4.1 Cr\u00e9er un script Lua<\/h6>\n<ol>\n<li>Dans le planificateur de missions, allez \u00e0\u00a0<strong>Config\/Tuning \u2192 Scripts Lua<\/strong>.<\/li>\n<li>Cliquez sur \u201cNouveau script\u201d et collez le code ci-dessous (envoie une seule commande de t\u00e9l\u00e9m\u00e9trie toutes les 1 secondes) :<\/li>\n<\/ol>\n<pre data-line=\"\"><code>\n\t\t\t\t\t\n\t\t\t\t<\/code><\/pre>\n<ol start=\"3\">\n<li>Enregistrer le script sous\u00a0<code>sfa2000b_cmd.lua<\/code>\u00a0et cliquez sur \u201cLoad Script\u201d (le contr\u00f4leur de vol le lancera au d\u00e9marrage).<\/li>\n<\/ol>\n<h6>4.2 Pour la recherche continue (5Hz\/10Hz)<\/h6>\n<p>Pour utiliser le mode continu du SFA2000B (par exemple, 10Hz pour les drones se d\u00e9pla\u00e7ant rapidement), remplacez le bouton\u00a0<code>single_range_cmd<\/code>\u00a0avec une commande continue :<\/p>\n<ul>\n<li>Commande 5Hz :\u00a0<code>55 AA B9 FF FF FF FF D4<\/code>\u00a0(somme de contr\u00f4le = 0x55+0xAA+0xB9+0xFF*4 = 0xD4)<\/li>\n<li>Commande 10Hz :\u00a0<code>55 AA C9 FF FF FF FF C4<\/code>\u00a0(somme de contr\u00f4le = 0x55+0xAA+0xC9+0xFF*4 = 0xC4)<\/li>\n<\/ul>\n<h5>\u00c9tape 5 : Valider l'int\u00e9gration<\/h5>\n<p>Une fois tous les param\u00e8tres sauvegard\u00e9s, red\u00e9marrez le contr\u00f4leur de vol et v\u00e9rifiez que les donn\u00e9es circulent correctement.<\/p>\n<h6>5.1 V\u00e9rifier les donn\u00e9es en temps r\u00e9el dans le planificateur de missions<\/h6>\n<ol>\n<li>Aller \u00e0 la page\u00a0<strong>Statut<\/strong>\u00a0onglet \u2192 Recherchez la valeur \u201cRangeFinder1\u201d.\n<ul>\n<li>Elle doit correspondre \u00e0 la distance r\u00e9elle de la cible (par exemple, 5,2 m si le drone se trouve \u00e0 5,2 m au-dessus du sol).<\/li>\n<li>S'il affiche \u201c0\u201d ou \u201cNaN\u201d, rev\u00e9rifiez votre c\u00e2blage et vos param\u00e8tres.<\/li>\n<\/ul>\n<\/li>\n<li>Pour une confirmation visuelle, rendez-vous sur le site\u00a0<strong>Donn\u00e9es de vol<\/strong>\u00a0onglet \u2192 S\u00e9lectionnez \u201cProximit\u00e9\u201d dans la liste d\u00e9roulante.\n<ul>\n<li>Si le module est mont\u00e9 vers le bas (RNGFND1_ORIENT=25), vous verrez la distance \u201cDown\u201d se mettre \u00e0 jour en temps r\u00e9el.<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h6>5.2 Essai sur le terrain (essentiel !)<\/h6>\n<p>Avant le vol :<\/p>\n<ol>\n<li>Placez le drone \u00e0 5 m au-dessus d'une surface plane (par exemple, un sol en b\u00e9ton).<\/li>\n<li>Confirmer que la valeur du RangeFinder1 est de ~5,0m (erreur \u2264 \u00b10,5m, selon les sp\u00e9cifications du SFA2000B).<\/li>\n<li>D\u00e9placez le drone vers le haut\/bas lentement - assurez-vous que la distance est mise \u00e0 jour en douceur (pas de sauts &gt;1m).<\/li>\n<\/ol>\n<h3>FAQ : Probl\u00e8mes courants et solutions<\/h3>\n<h6><strong>Q1 : Le contr\u00f4leur de vol n'affiche aucune donn\u00e9e du RangeFinder, mais le SFA2000B fonctionne avec l'adaptateur USB-TTL.<\/strong><\/h6>\n<p><strong>A1<\/strong>: Il s'agit probablement d'une erreur de c\u00e2blage ou de param\u00e9trage :<\/p>\n<ul>\n<li>V\u00e9rifier si TX\/RX sont invers\u00e9s (contr\u00f4leur de vol TX \u2192 SFA2000B RXD ; contr\u00f4leur de vol RX \u2192 SFA2000B TXD).<\/li>\n<li>V\u00e9rifier\u00a0<code>SERIAL2_PROTOCOL=23<\/code>\u00a0(pas 1 pour MAVLink) et\u00a0<code>CUST_HEADER1=0x55<\/code>,\u00a0<code>CUST_HEADER2=0xAA<\/code>.<\/li>\n<li>Assurez-vous que le script Lua est charg\u00e9 (v\u00e9rifiez l'onglet \u201cMessages\u201d du planificateur de mission pour \u201cSFA2000B : Command Sent\u201d).<\/li>\n<\/ul>\n<h6><strong>Q2 : Les donn\u00e9es relatives \u00e0 la distance sont irr\u00e9guli\u00e8res (par exemple, 5m \u2192 12m \u2192 3m).<\/strong><\/h6>\n<p><strong>A2<\/strong>: EMI ou probl\u00e8mes d'alimentation :<\/p>\n<ul>\n<li>Remplacer les fils non blind\u00e9s par des fils blind\u00e9s (relier le blindage \u00e0 la masse du contr\u00f4leur de vol).<\/li>\n<li>Utilisez un module d'alimentation externe de 3,3V\/1A (le port 3,3V du contr\u00f4leur de vol peut \u00eatre instable sous charge).<\/li>\n<li>Nettoyez la fen\u00eatre optique du CDF2000B \u00e0 l'aide d'un chiffon \u00e0 lentilles (la poussi\u00e8re provoque des erreurs de r\u00e9flexion).<\/li>\n<\/ul>\n<h6><strong>Q3 : Le CDF2000B renvoie un \u00e9tat de 0 (\u00e9chec) :\u00a0<code>55 AA 88 00 FF FF FF YY<\/code>).<\/strong><\/h6>\n<p><strong>A3<\/strong>: Les conditions de port\u00e9e ne sont pas valides :<\/p>\n<ul>\n<li>La cible se trouve dans la zone aveugle du module (\u22643m)-\u00e9loignez le drone.<\/li>\n<li>La cible a une faible r\u00e9flectivit\u00e9 (par exemple, les arbres, l'eau) - tester avec un mur en b\u00e9ton.<\/li>\n<li>La lumi\u00e8re du soleil est directement expos\u00e9e au r\u00e9cepteur du module - prot\u00e9gez la lentille ou testez \u00e0 l'ombre.<\/li>\n<\/ul>\n<h6><strong>Q4 : Puis-je utiliser le SFA2000B pour l'\u00e9vitement d'obstacles (et pas seulement pour le maintien de l'altitude) ?<\/strong><\/h6>\n<p><strong>A4<\/strong>: Oui ! Modifier l'orientation du montage :<\/p>\n<ul>\n<li>Set (jeu de mots)\u00a0<code>RNGFND1_ORIENT=0<\/code>\u00a0(Avant) ou\u00a0<code>1<\/code>\u00a0(vers l'arri\u00e8re) dans les param\u00e8tres.<\/li>\n<li>Utilisez une commande de t\u00e9l\u00e9m\u00e9trie continue (5Hz\/10Hz) dans le script Lua pour des mises \u00e0 jour plus rapides.<\/li>\n<li>Associer avec la fonction \u201cObstacle Avoidance\u201d d'ArduPilot (activer la fonction \"Obstacle Avoidance\")\u00a0<code>AVOID_ENABLE=1<\/code>).<\/li>\n<\/ul>\n<h3>Notes finales<\/h3>\n<p>Le SFA2000B est un t\u00e9l\u00e9m\u00e8tre puissant pour les drones, mais son protocole personnalis\u00e9 n\u00e9cessite une configuration pr\u00e9cise pour fonctionner avec ArduPilot. En suivant ce guide - tester d'abord le module, le c\u00e2bler soigneusement et configurer les param\u00e8tres \u00e9tape par \u00e9tape - vous obtiendrez des donn\u00e9es de distance fiables pour le maintien de l'altitude, l'\u00e9vitement des obstacles ou la cartographie.<\/p>\n<p>Si vous rencontrez des probl\u00e8mes persistants, contactez-nous :<\/p>\n<p><strong>Communaut\u00e9 ArduPilot<\/strong>:\u00a0<a href=\"https:\/\/discuss.ardupilot.org\/\" target=\"_blank\" rel=\"noopener\">Forums<\/a>\u00a0(aide d'un expert pour le firmware\/les param\u00e8tres).<\/p>","protected":false},"excerpt":{"rendered":"<p>For drone enthusiasts, engineers, and commercial UAV operators, integrating a high-performance rangefinder like the\u00a0SFA2000B\u00a0into your drone\u2019s flight system is critical for tasks like precision landing, obstacle avoidance, and altitude hold. The SFA2000B\u2014with its 2000m max range (nighttime), 3.3V-5V power supply, and TTL serial communication\u2014offers exceptional utility, but it requires specific steps to work with\u00a0ArduPilot (AP) [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":10742,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[539,586],"tags":[],"class_list":["post-10735","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-laser-rangefinder-module","category-technical-blogs"],"blocksy_meta":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v24.8 (Yoast SEO v28.1) - https:\/\/yoast.com\/product\/yoast-seo-premium-wordpress\/ -->\n<title>Laser Rangefinder Module for ArduPilot \u2013 2000m<\/title>\n<meta name=\"description\" content=\"SFA2000B Laser Rangefinder Module with LuaScripting for ArduPilot drones. 2000m, TTL interface, custom 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