# Quick Start Guide

## Ardupilot Setup Process

After connecting the radar to the flight controller's CAN port, set the following parameters in Mission Planner:

* **CAN\_P1\_DRIVER = 1, Enable CAN 1 if the device is connected to the CAN 1 port**
* **CAN\_P2\_DRIVER = 2, Enable CAN 2 if the device is connected to the CAN 2 port**
* **RNGFND1\_TYPE = 24, Select DroneCAN for Rangerfinder**
* **RNGFND1\_MAX\_CM = 2000, Set the maximum sensing range to 200 meters**
* **RNGFND1\_MIN\_CM = 20, Set the minimum sensing range to 0.2 meters**
* **RNGFND1\_ADDR = 0,  Set device address to auto**

Power cycle your flight controller after setting the parameters above. After reboot, you should be able to see the range finder data from the DATA interface.

<figure><img src="/files/jCTe7z6uM0rxT7Mg7UDU" alt=""><figcaption></figcaption></figure>

## PX4 Setup Process

In QGroundControl, search for *UAVCAN\_ENABLE* and set the parameter to *Sensors Automatic Config.*

<figure><img src="/files/gOtIlgMg4xNd6L3Opz75" alt=""><figcaption></figcaption></figure>

Set *UAVCAN\_SUB\_RNG* to *Enable* and reboot.

<figure><img src="/files/9wvhCYsdLvUIcMJd5IEk" alt=""><figcaption></figcaption></figure>

After reboot, *UAVCAN\_RNG* parameters will become available. Set *UAVCAN\_RNG\_MAX* to 200m and *\~MIN* to 0.1m.

<figure><img src="/files/RWU4r8qdOdpXrfkvRZHk" alt=""><figcaption></figcaption></figure>

To display the range date on the main QGC interface, first right-click on the telemetry data field.

<figure><img src="/files/9t7NcMaFyhRed4313zyw" alt=""><figcaption></figcaption></figure>

Click '+' to add more elements, and '-' to reduce elements. Left-click on one of the elements to open element settings.

<figure><img src="/files/b9DWJcnmIcseLEMWaeZL" alt=""><figcaption></figcaption></figure>

Set group to distance sensor and value to RotationPitch270 if the sensor is pointing down.

<figure><img src="/files/2CzSf60QiFMRh5F7Zb3i" alt=""><figcaption></figcaption></figure>


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