μSharp Patch C1 or μSharp 360 obstacle avoidance sensor support

@rmackay9 Arducopter do support for the below sensor for Obstacles avoidance sensor ?

i have μSharp Patch C1 sensor with me it has good specification compared to sonar and Lidar under different weather condition.

@kalai1219,

AP supports the uLanding but not the uPatch as far as I know. Of course it’s possible that the uPatch uses the same protocol as the uLanding so it may work but I have no idea if this is the case.

So I can set the parameter as like USD1 ainstein radar for landing will it work ?

@kalai1219,

If the uPatch uses the same protocol as the uLanding then setting it up as the AP uLanding wiki page suggests could work. But I don’t know if it uses the same protocol…

i just tried out usharp patch c1 with below setting recommended by ardupilot .org


as a result it shows Bad Lidar Health
then gone through the product manual they recommended baud rate is 115200 , then changed to 115200 from 38400.

but that also resulted same Bad Lidar health.
is that may be the driver issue .
in future do you have plan for add this product driver?

I’ll ask around to see if any other developers have one but my guess is that none of us have the hardware so it would be difficult to write the driver. Sometimes manufacturers send us their product so that we can add support so maybe I’ll email them.

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It looks like the protocol for the uPatch is the same as the uLanding so the driver should work.

Maybe post an onboard log file (set LOG_DISARMED = 1 to produce a log even when the vehicle is disarmed) and we can look for issues in the setup.

Thank you for your interest @rmackay9

I will share the log as you described .thank you again.

here is the log with Log_disarmed = 1
66 01-Jan-70 5-30-00 AM.bin (229.4 KB)
uPatch c1.param (17.3 KB)

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@kalai1219,

The only thing i see is that SERIAL4_BAUD should be set to 115.

You’re sure that the uPatch is the serial version and not the CAN version? AP supports both but the physical connection and setup is different of course…

Yesterday I tried with both baud rate 38400 and 115200 also…yes i am sure it’s usharp patch C1 UART version…do AP support MMwave radar CAN version ?

@rmackay9 its sure its UART version of the usharp Patch C1 .i just read out the sensor output via TTL cable.


but still it report in mission planner that RNGFND :NODATA.

Just curious of the availability of the usharp radars as ainstein just show this product as available:

And it is sold as a UAV Standard Radar Altimeter

@rmackay9
I just mailed to the vendor for the clarification.they sent reply mail to me as follows.


The byte 2 format changes.

Device Version ID seems to be they changed …can we do something to work around ?