cleanup nra24 and nooploop RF pages

common/source/docs/common-proximity-landingpage.rst

@@ -18,15 +18,7 @@ Configuration
 You will need to set up the parameter ``PRXx_TYPE`` correctly for the sensor(s) you are using.
 Exclusion zones are provided for 360 degree Lidars, since these may have obstructions in their field of view. Exclusion zones are set via the ``PRXx_IGN_ANGx`` and ``PRXx_IGN_WIDx`` parameters, specifying a direction and width the frame obstruction presents and will be ignored. Up to 6 exclusion sectors can be specified.
 
-Follow the links below for configuration information based upon your set-up:
-
-
--    :ref:`RangeFinders <common-rangefinder-setup>`
--    :ref:`Intel RealSense Depth Camera <common-realsense-depth-camera>`
--    :ref:`Lightware SF40/C (360 degree) <common-lightware-sf40c-objectavoidance>`
--    :ref:`Lightware SF45/B (350 degree) <common-lightware-sf45b>`
--    :ref:`RPLidar A2 360 degree laser scanner <common-rplidar-a2>`
--    :ref:`TerraRanger Tower (360 degree) <common-teraranger-tower-objectavoidance>`
+A list of supported units is shown on the :ref:`common-rangefinder-landingpage` under "Omnidirectional Proximity Rangefinders"
 
 Testing
 =======

common/source/docs/common-rangefinder-landingpage.rst

@@ -79,9 +79,9 @@ Unidirectional Rangefinders
     Lightware SF02 Lidar <common-rangefinder-sf02>
     Maxbotix I2C Sonar <common-rangefinder-maxbotixi2c>
     Maxbotix Analog Sonar <common-rangefinder-maxbotix-analog>
+    Nanoradar NRA24 <common-rangefinder-nra24>
     Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
     Nooploop TOF-Sense F <common-rangefinder-nooploop-tofsense-f>
-    Nanoradar NRA24 <common-rangefinder-nra24>
     ST VL53L0X / VL53L1X Lidar <common-vl53l0x-lidar>
     TeraRanger One/EVO Rangefinders <common-teraranger-one-rangefinder>
     TeraRanger NEO <common-teraranger-neo>

common/source/docs/common-rangefinder-nooploop-tofsense-f.rst

@@ -36,7 +36,7 @@ For a I2C connection you can use any spare I2C port.
 
 Set the following parameters
 
--  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = “40" (Reboot after setting this)
+-  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 40 (NoopLoop_TOFSenseF_I2C) Reboot after setting this.
 -  :ref:`RNGFND1_ADDR <RNGFND1_ADDR>` = I2C slave address of the sensor (Default is 8, which corresponds to ID 0 in the NAssistant software)
 
 

common/source/docs/common-rangefinder-nooploop-tofsense-p.rst

@@ -35,9 +35,9 @@ Set the following parameters:
 
 -  :ref:`SERIAL4_PROTOCOL<SERIAL4_PROTOCOL>` = 9 (Lidar)
 -  :ref:`SERIAL4_BAUD<SERIAL4_BAUD>` = 230400 (Or as set in NAssistant)
--  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = “37" (Reboot after setting this)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = "800" (i.e. 8m max range)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = "2"
+-  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 37 (NoopLoop_TOFSense) Reboot after setting this.
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = 800 (i.e. 8m max range)
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = 2
 
 
 Connecting via CAN
@@ -61,13 +61,13 @@ For a CAN connection you can use any spare CAN port. Since this is not a DroneCA
 
 Set the following parameters
 
--  :ref:`CAN_P2_DRIVER <CAN_P2_DRIVER>` = 1 (to enable the 1st CAN port)
+-  :ref:`CAN_P2_DRIVER <CAN_P2_DRIVER>` = 1 (to enable the CAN port and use driver 2)
 -  :ref:`CAN_P2_BITRATE<CAN_P2_BITRATE>` = 1000000 (Or as set in NAssistant)
--  :ref:`CAN_D2_PROTOCOL<CAN_D2_PROTOCOL>` = 13
--  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = “38" (Reboot after setting this)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = "8000" (i.e. 8m max range)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = "2"
--  :ref:`RNGFND1_RECV_ID <RNGFND1_RECV_ID>` = ID of the sensor (0 to accept all sensors connected)
+-  :ref:`CAN_D2_PROTOCOL<CAN_D2_PROTOCOL>` = 13 (TOFSenseP protocol)
+-  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 38 (NoopLoop_TOFSense_CAN) Reboot after setting this.
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = 8000 (i.e. 8m max range)
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = 2
+-  :ref:`RNGFND1_RECV_ID <RNGFND1_RECV_ID>` = ID of the sensor (0 to accept data from all CAN sensor IDs)
 
 
 Testing the sensor

common/source/docs/common-rangefinder-nra24.rst

@@ -1,4 +1,4 @@
-.. _common-rangefinder-nooploop-nra24.rst:
+.. _common-rangefinder-nra24.rst:
 
 ================
 Nanoradar NRA 24
@@ -7,22 +7,21 @@ Nanoradar NRA 24
 .. note::
     Support for this sensor is available in firmware versions 4.5 and later.
 
-The `NRA24 <http://en.nanoradar.cn/Article/detail/id/372.html>`__ is K-band radar commonly used for detecting height above terrain in all-weather conditions.
-Currently only connection via CAN is supported. Serial versions of this Radar isn't officially supported.
+The `NRA24 <http://en.nanoradar.cn/Article/detail/id/372.html>`__ is K-band radar commonly used for detecting height above terrain in all-weather conditions. Currently only connection via CAN is supported. Serial versions of this Radar are not officially supported.
 
 
 Connecting via CAN
-=========================
+==================
 
 Setup the sensor through the NSM Software. In particular set the "ID" to a unique number if planning to use multiple NRA24 on a single CAN bus. You can also set the bitrate from the software.
 
 .. note::
-    ArduPilot does not currently support  same CAN rangefinders connected to different CAN ports. If you would like yo use multiple CAN rangefinders together, connect them to the same bus.
+    ArduPilot does not currently support  same CAN rangefinders connected to different CAN ports. If you would like to use multiple CAN rangefinders together, connect them to the same bus.
 
 
 Connecting to the Autopilot
-==============================
-Setup the sensor through the NAssistant Software provided by the manufacturer. More details can be found `here <https://www.nooploop.com/download/>`__. Set the "ID" to a unique number if planning to use multiple NRA24 on a single CAN bus. You can also set the bitrate from the software to match the CAN bus bitrate (500000 is recommended).
+===========================
+Setup the sensor through the NSM tools provided by the manufacturer. More details can be found `here <http://en.nanoradar.cn/File/download/id/467.html>`__. Set the "ID" to a unique number if planning to use multiple NRA24 on a single CAN bus. You can also set the bitrate from the software to match the CAN bus bitrate (500000 is recommended).
 
 For a serial connection you can use any spare CAN port. Since this is not a DroneCAN based sensor, you will not be able to use the connected port with any other sensor. The diagram below shows how to connect to CAN2.
 
@@ -31,13 +30,13 @@ For a serial connection you can use any spare CAN port. Since this is not a Dron
 
 Set the following parameters
 
--  :ref:`CAN_P2_DRIVER <CAN_P2_DRIVER>` = 1 (to enable the 1st CAN port)
--  :ref:`CAN_P2_BITRATE<CAN_P2_BITRATE>` = 500000 (Or as set in NAssistant)
--  :ref:`CAN_D2_PROTOCOL<CAN_D2_PROTOCOL>` = 14
--  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = “39" (Reboot after setting this)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = "19000" (i.e. 200m max range and 10m buffer)
--  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = "60"
--  :ref:`RNGFND1_RECV_ID <RNGFND1_RECV_ID>` = ID of the sensor (0 to accept all distances)
+-  :ref:`CAN_P2_DRIVER <CAN_P2_DRIVER>` = 2 (to enable the second CAN driver)
+-  :ref:`CAN_P2_BITRATE<CAN_P2_BITRATE>` = 500000 (Or as set in NSM tools)
+-  :ref:`CAN_D2_PROTOCOL<CAN_D2_PROTOCOL>` = 14 (NanoRadar)
+-  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 39 (NRA-24). Reboot after setting this.
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = 19000 (i.e. 200m max range with 10m buffer)
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MIN_CM>` = 50 (0.5m min range)
+-  :ref:`RNGFND1_RECV_ID <RNGFND1_RECV_ID>` = ID of the sensor (0 to accept all CAN ids for distance)
 
 
 Testing the sensor

common/source/docs/common-uavcan-peripherals.rst

@@ -71,6 +71,8 @@ Rangefinder
     :maxdepth: 1
 
     Avionics Anonymous LIDAR Interface <common-avanon-mag>
+    Nanoradar NRA24 <common-rangefinder-nra24>
+    Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
 
 Servos
 ======