Common: benewake tfmini I2C clarified

common/source/docs/common-benewake-tfmini-lidar.rst

@@ -6,39 +6,49 @@ Benewake TFmini / TFmini Plus lidar
 
 The `TFmini <https://en.benewake.com/TFminiS/index.html>`__  and `TFmini Plus <https://en.benewake.com/TFminiPlus/index.html>`__ lidars have an indoor range of 12m, an outdoor range of 7m and weigh 5g and 11g respectively.
 
+Both UART and I2C versions are available.  UART has the advantage of allowing easier firmware updates.
+
 More details on both these lidar can be found in the `benewake.com's downloads area <https://en.benewake.com/DataDownload/>`__
 
 .. image:: ../../../images/benewake-tfmini-topimage.jpg
+    :width: 450px
 
 Where to Buy
 ------------
 
-- `Benewake.com Distributors <https://en.benewake.com/Agent/index.html>`__
 - `Benewake's store on Alibaba.com <https://beixingguangzi.en.alibaba.com/>`__
+- `Benewake.com Distributors <https://en.benewake.com/Agent/index.html>`__
 
-Connecting to the Autopilot
------------------------------------
+Connecting using Serial
+-----------------------
 
-For a serial connection you can use any spare Serial/UART port.  The diagram below shows how to connect to SERIAL4.
+For a serial connection you can use any spare Serial/UART port.  The diagram below shows how to connect to the autopilot's SERIAL4 port.
 
 .. image:: ../../../images/benewake-tfmini-pixhawk.png
+    :width: 450px
 
 If the SERIAL4 port on an autopilot is being used then the following parameters should be set for the first rangefinder:
 
--  :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
--  :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
--  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 20 (Benewake-Serial)
+- :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 9 (Lidar)
+- :ref:`SERIAL4_BAUD <SERIAL4_BAUD>` = 115 (115200 baud)
+- :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 20 (Benewake-Serial)
+- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFmini, 10 for TFminiPlus
+- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **1000** for indoor use OR **600** for outdoors.  *This is the distance in centimeters that the rangefinder can reliably read.*
+- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
-.. note:: :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 20 works for TFminiPlus or TFmini, via its UART connection. If TFminiPlus is connected via I2C to the autopilot, use :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 25 (Benewake TFminiPlus-I2C) and also set :ref:`RNGFND1_ADDR<RNGFND1_ADDR>` = 16 (I2C Address of lidar in decimal). *The sensor’s default I2C address is 0x10 hexadecimal which is 16 in decimal.* 
+Connecting using I2C
+--------------------
 
--  :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFmini, =10 for TFminiPlus
--  :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **1000** for indoor use OR **600** for outdoors.  *This is the distance in centimeters that the rangefinder can reliably read.*
--  :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
+The diagram below shows how to connect to the autopilot's I2C port.
 
-If instead the Telem2 port was used then the serial parameters listed above should instead be:
+.. image:: ../../../images/benewake-tfmini-autopilot-i2c.png
+    :width: 450px
 
--  :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9
--  :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` = 115
+- :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 25 (Benewake TFminiPlus-I2C)
+- :ref:`RNGFND1_ADDR<RNGFND1_ADDR>` = 16 (I2C address of lidar in decimal, equivalent to 0x10 hexadecimal)
+- :ref:`RNGFND1_MIN <RNGFND1_MIN>` = 30 for TFmini, 10 for TFminiPlus
+- :ref:`RNGFND1_MAX <RNGFND1_MAX>` = **1000** for indoor use OR **600** for outdoors.  *This is the distance in centimeters that the rangefinder can reliably read.*
+- :ref:`RNGFND1_GNDCLR <RNGFND1_GNDCLR>` = 10 *or more accurately the distance in centimetres from the range finder to the ground when the vehicle is landed.  This value depends on how you have mounted the rangefinder.*
 
 Testing the sensor
 ==================