{"id":6336,"date":"2025-11-26T16:57:02","date_gmt":"2025-11-26T08:57:02","guid":{"rendered":"https:\/\/meskernel.net\/?p=6336"},"modified":"2025-11-26T16:57:05","modified_gmt":"2025-11-26T08:57:05","slug":"%ec%bb%b4%ed%8c%a8%eb%8b%88%ec%96%b8-%ec%bb%b4%ed%93%a8%ed%84%b0","status":"publish","type":"post","link":"https:\/\/meskernel.net\/ko\/companion-computer\/","title":{"rendered":"\ub808\uc774\uc800 \uac70\ub9ac\uce21\uc815\uae30 LD30-S1R(LDL-T) \u2192 \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130 \u2192 \ud53d\uc2a4\ud638\ud06c \ube44\ud589 \ucee8\ud2b8\ub864\ub7ec"},"content":{"rendered":"<p>\uc774 \uac00\uc774\ub4dc\ub294 \ubcc4\ub3c4\uc758 \ubb38\uc11c\ud654 \uc5c6\uc774\ub3c4 \uc644\ubcbd\ud558\uac8c \uc791\ub3d9\ud558\ub294 \ud1b5\ud569 \uc194\ub8e8\uc158\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4:<\/p>\n\n\n\n<p>LD30-S1R \u2192 \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130(\ub77c\uc988\ubca0\ub9ac \ud30c\uc774\/\uc82f\uc2a8\/\uc548\ub4dc\ub85c\uc774\ub4dc) \u2192 MAVLink \u2192 <a href=\"https:\/\/meskernel.net\/ko\/pixhawk-ldl-t-laser-distance-sensor-integration\/\">\ud53d\uc2a4\ud638\ud06c<\/a><\/p>\n\n\n\n<p>\uc5ec\uae30\uc5d0\ub294 \ubc30\uc120 \ub2e4\uc774\uc5b4\uadf8\ub7a8, \ub370\uc774\ud130 \uad6c\ubb38 \ubd84\uc11d \ud750\ub984, \ubc14\ub85c \uc2e4\ud589 \uac00\ub2a5\ud55c Python \ucf54\ub4dc, Pixhawk \ub9e4\uac1c\ubcc0\uc218 \uc124\uc815, \uc9c0\uc0c1 \uad00\uc81c\uc18c \uac80\uc99d\uc774 \ud3ec\ud568\ub429\ub2c8\ub2e4.<\/p>\n\n\n\n<p>\uc774 \uac00\uc774\ub4dc\ub97c \ub2e8\uacc4\ubcc4\ub85c \ub530\ub77c\uac00\uba74 \uc2dc\uc2a4\ud15c\uc774 \uc989\uc2dc \uc791\ub3d9\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>1. \ubc30\uc120 \uc5f0\uacb0(LD30 \u2194 \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130 \u2194 \ube44\ud589 \uc870\uc885\uae30) 1.<\/strong><\/h1>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>1.1 LD30-S1R \u2194 \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130(UART)<\/strong><\/h2>\n\n\n\n<p>\ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130\uac00 \ub420 \uc218 \uc788\uc2b5\ub2c8\ub2e4:<br><strong>USB-UART\uac00 \uc788\ub294 \ub77c\uc988\ubca0\ub9ac \ud30c\uc774\/\uc82f\uc2a8 \ub098\ub178\/\uc0b0\uc5c5\uc6a9 PC\/\uc548\ub4dc\ub85c\uc774\ub4dc \ub514\ubc14\uc774\uc2a4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>LD30-S1R<\/th><th>\ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130(<a href=\"https:\/\/meskernel.net\/ko\/usart-vs-uart\/\">UART<\/a>)<\/th><\/tr><\/thead><tbody><tr><td><strong>VCC(3.3-4.0V)<\/strong><\/td><td>3.3V \ub610\ub294 \uc678\ubd80 \ub808\uade4\ub808\uc774\ud130<\/td><\/tr><tr><td><strong>GND<\/strong><\/td><td>GND<\/td><\/tr><tr><td><strong>TXD(\uc624\ud508 \ub4dc\ub808\uc778)<\/strong><\/td><td>RX<\/td><\/tr><tr><td><strong>RXD<\/strong><\/td><td>TX<\/td><\/tr><tr><td><strong>PWREN<\/strong><\/td><td>\ud480 \ud558\uc774(3.3V) \ub610\ub294 GPIO<\/td><\/tr><tr><td><strong>nRST<\/strong><\/td><td>\uc5f0\uacb0\ub418\uc9c0 \uc54a\uc74c<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\ucc38\uace0:<\/strong> LD30 uses 3.3V <a href=\"https:\/\/meskernel.net\/ko\/ttl-uart\/\">TTL UART<\/a>. <strong>\ud558\uc9c0 \ub9c8\uc2ed\uc2dc\uc624<\/strong> 5V TTL UART\uc5d0 \uc5f0\uacb0\ud569\ub2c8\ub2e4.<br>TX\ub294 \uac1c\ubc29\ud615 \ub4dc\ub808\uc778\uc774\uba70, Raspberry Pi \ubc0f Jetson\uc758 \ub0b4\ubd80 \ud480\uc5c5\uc740 \uc815\uc0c1\uc801\uc73c\ub85c \uc791\ub3d9\ud569\ub2c8\ub2e4.<\/p>\n<\/blockquote>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>1.2 \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130 \u2194 \ud53d\uc2a4\ud638\ud06c(MAVLink UART)<\/strong><\/h2>\n\n\n\n<p>\uc0ac\uc6a9 <strong>TELEM1 \/ TELEM2<\/strong> \ud3ec\ud2b8.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130<\/th><th>\ud53d\uc2a4\ud638\ud06c(\uc6d0\uaca9 \ud3ec\ud2b8)<\/th><\/tr><\/thead><tbody><tr><td><strong>TX<\/strong><\/td><td>RX<\/td><\/tr><tr><td><strong>RX<\/strong><\/td><td>TX<\/td><\/tr><tr><td><strong>GND<\/strong><\/td><td>GND<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc804\uc1a1 \uc18d\ub3c4: <strong>115200<\/strong><\/li>\n\n\n\n<li>\ud504\ub85c\ud1a0\ucf5c: <strong>MAVLink2<\/strong><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>2. \ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130\uc5d0\uc11c LD30-S1R \ub370\uc774\ud130 \uc77d\uae30<\/strong><\/h1>\n\n\n\n<p>LD30\uc740 \ubc14\uc774\ub108\ub9ac \uba85\ub839 \ud504\ub85c\ud1a0\ucf5c\uc744 \uc0ac\uc6a9\ud558\uc5ec \ud1b5\uc2e0\ud569\ub2c8\ub2e4.<br>\ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130\uac00 \ucc98\ub9ac\ud569\ub2c8\ub2e4:<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>UART \ud3ec\ud2b8 \uc5f4\uae30<\/li>\n\n\n\n<li>\u201c\uc5f0\uc18d \uce21\uc815\u201d \uba85\ub839 \ubcf4\ub0b4\uae30<\/li>\n\n\n\n<li>\ub85c \uc2dc\uc791\ud558\ub294 \ud504\ub808\uc784 \uad6c\ubb38 \ubd84\uc11d <strong>0xAA<\/strong><\/li>\n\n\n\n<li>\ucd94\ucd9c \uac70\ub9ac(mm)<\/li>\n\n\n\n<li>\ubbf8\ud130\ub85c \ubcc0\ud658<\/li>\n\n\n\n<li>MAVLink\uc5d0 \ud3ec\uc7a5 <strong>\uac70\ub9ac_\uc13c\uc11c<\/strong><\/li>\n\n\n\n<li>\ud53d\uc2a4\ud638\ud06c\uc5d0 \ubcf4\ub0b4\uae30<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2.1 \uc5f0\uc18d \uce21\uc815 \uba85\ub839<\/strong><\/h2>\n\n\n\n<p>LD30 \uc0ac\uc6a9 \uc124\uba85\uc11c(14.12\uc808) \ucc38\uc870:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>AA 00 00 20 00 01 00 04 25\n<\/code><\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2.2 \ub370\uc774\ud130 \ud504\ub808\uc784 \ud615\uc2dd<\/strong><\/h2>\n\n\n\n<p>\ubc18\ud658\ub41c \ub370\uc774\ud130\uc5d0\ub294 \ub2e4\uc74c\uc774 \ud3ec\ud568\ub429\ub2c8\ub2e4:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\uac70\ub9ac:<\/strong> 4\ubc14\uc774\ud2b8(mm)<\/li>\n\n\n\n<li><strong>\uc2e0\ud638 \ud488\uc9c8:<\/strong> 2\ubc14\uc774\ud2b8<\/li>\n\n\n\n<li>\ud504\ub808\uc784 \ud5e4\ub354: <strong>0xAA<\/strong><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>3. \ud30c\uc774\uc36c \uc2a4\ud06c\ub9bd\ud2b8 \uc644\uc131(\uc2e4\ud589 \uc900\ube44 \uc644\ub8cc)<\/strong><\/h1>\n\n\n\n<p>\uc774 \uc2a4\ud06c\ub9bd\ud2b8:<\/p>\n\n\n\n<p>\uc77d\uae30 LD30<br>\uac70\ub9ac \uad6c\ubb38 \ubd84\uc11d<br>mm \u2192 m\ub85c \ubcc0\ud658<br>MAVLink \uc804\uc1a1 <code>\uac70\ub9ac_\uc13c\uc11c<\/code><br>\uc2e4\uc2dc\uac04\uc73c\ub85c Pixhawk\ub85c \ub370\uc774\ud130 \uc2a4\ud2b8\ub9ac\ubc0d<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\ub2e4\ub978 \uc774\ub984\uc73c\ub85c \uc800\uc7a5 <code>ld30_to_mavlink.py<\/code><br>\ud568\uaed8 \uc2e4\ud589\ud558\uc138\uc694:<br><code>python3 ld30_to_mavlink.py<\/code><\/p>\n<\/blockquote>\n\n\n\n<pre class=\"wp-block-code\"><code>import serial\nfrom pymavlink import mavutil\nimport struct\n\n# --- LD30 Serial Port ---\nld30 = serial.Serial('\/dev\/ttyUSB0', 115200, timeout=0.1)\n\n# Continuous measurement command (from manual 14.12)\nCONT_MEASURE = bytes(&#91;0xAA,0x00,0x00,0x20,0x00,0x01,0x00,0x04,0x25])\nld30.write(CONT_MEASURE)\n\n# --- MAVLink connection to Pixhawk ---\nmav = mavutil.mavlink_connection('\/dev\/ttyAMA0', baud=115200)\n\ndef send_distance_to_fc(distance_m):\n    mav.mav.distance_sensor_send(\n        0,       # time_boot_ms\n        3,       # min_distance (cm)\n        3000,    # max_distance (cm)\n        int(distance_m * 100),  # current distance (cm)\n        0,       # type\n        0,       # id\n        0,       # orientation\n        0        # covariance\n    )\n\nbuffer = bytearray()\n\nwhile True:\n    data = ld30.read()\n    if not data:\n        continue\n\n    buffer += data\n\n    # Minimum frame length = 12 bytes\n    if len(buffer) >= 12:\n        # Look for header 0xAA\n        if buffer&#91;0] != 0xAA:\n            buffer.pop(0)\n            continue\n\n        # Parse fixed-length frame\n        if len(buffer) >= 12:\n            # Distance is bytes 6~9 (big-endian)\n            dist_bytes = buffer&#91;6:10]\n            distance_mm = struct.unpack(\">I\", dist_bytes)&#91;0]\n            distance_m = distance_mm \/ 1000.0\n\n            print(\"LD30 Distance:\", distance_m, \"m\")\n            send_distance_to_fc(distance_m)\n\n            buffer = bytearray()  # Clear buffer\n<\/code><\/pre>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>4. Pixhawk \ub9e4\uac1c\ubcc0\uc218 \uad6c\uc131(\ubbf8\uc158 \ud50c\ub798\ub108)<\/strong><\/h1>\n\n\n\n<p>\uc774\ub3d9\ud569\ub2c8\ub2e4:<br><strong>\uad6c\uc131 \u2192 \uc804\uccb4 \ub9e4\uac1c\ubcc0\uc218 \ubaa9\ub85d<\/strong><\/p>\n\n\n\n<p>\ub2e4\uc74c\uc744 \uc124\uc815\ud569\ub2c8\ub2e4:<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\ub9e4\uac1c\ubcc0\uc218<\/th><th>\uac00\uce58<\/th><\/tr><\/thead><tbody><tr><td><strong>RNGFND1_TYPE<\/strong><\/td><td>10 (MAVLink)<\/td><\/tr><tr><td><strong>RNGFND1_MIN_CM<\/strong><\/td><td>3<\/td><\/tr><tr><td><strong>RNGFND1_MAX_CM<\/strong><\/td><td>3000<\/td><\/tr><tr><td><strong>RNGFND1_ORIENT<\/strong><\/td><td>0(\uc815\ubc29\ud5a5) \ub610\ub294 <strong>25(\ud558\ud5a5)<\/strong><\/td><\/tr><tr><td><strong>rngfnd1_rmetric<\/strong><\/td><td>1<\/td><\/tr><tr><td><strong>serial1_protocol<\/strong><\/td><td>2 (MAVLink2)<\/td><\/tr><tr><td><strong>SERIAL1_BAUD<\/strong><\/td><td>115<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>TELEM2\ub97c \uc0ac\uc6a9\ud558\ub294 \uacbd\uc6b0 SERIAL2_*\ub97c \uc0ac\uc6a9\ud569\ub2c8\ub2e4.<br>TELEM3\uc744 \uc0ac\uc6a9\ud558\ub294 \uacbd\uc6b0 SERIAL3_*\ub97c \uc0ac\uc6a9\ud569\ub2c8\ub2e4.<\/p>\n<\/blockquote>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>5. \ubbf8\uc158 \ud50c\ub798\ub108 \/ QGroundControl\uc5d0\uc11c LD30 \ub370\uc774\ud130 \ubaa8\ub2c8\ud130\ub9c1<\/strong><\/h1>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>5.1 \ubbf8\uc158 \ud50c\ub798\ub108<\/strong><\/h2>\n\n\n\n<p>\ub85c \uc774\ub3d9\ud569\ub2c8\ub2e4:<\/p>\n\n\n\n<p><strong>\ube44\ud589 \ub370\uc774\ud130 \u2192 \uc0c1\ud0dc \u2192 \uc18c\ub098_\ubc94\uc704 \/ rngfnd1_dist<\/strong><\/p>\n\n\n\n<p>\ub610\ub294:<\/p>\n\n\n\n<p><strong>Ctrl + F \u2192 MAVLink Inspector \u2192 DISTANCE_SENSOR<\/strong><\/p>\n\n\n\n<p>\uace7 \uc54c\uac8c \ub418\uc2e4 \uac81\ub2c8\ub2e4:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc2e4\uc2dc\uac04 \uac70\ub9ac<\/li>\n\n\n\n<li>\uc5c5\ub370\uc774\ud2b8 \ube48\ub3c4<\/li>\n\n\n\n<li>MAVLink \uc2a4\ud2b8\ub9bc ID<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>5.2 QGroundControl<\/strong><\/h2>\n\n\n\n<p>\ud0d0\uc0c9:<\/p>\n\n\n\n<p><strong>\uc704\uc82f \u2192 \ubd84\uc11d \ub3c4\uad6c \u2192 MAVLink Inspector \u2192 DISTANCE_SENSOR<\/strong><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\"><strong>6. \uc804\uccb4 \uc2dc\uc2a4\ud15c \uc6cc\ud06c\ud50c\ub85c<\/strong><\/h1>\n\n\n\n<pre class=\"wp-block-code\"><code>            LD30-S1R\n                \u2502\n           TTL UART 3.3V\n                \u2502\n        \u250c\u2500\u2500\u2500\u2500\ucef4\ud328\ub2c8\uc5b8 \ucef4\ud4e8\ud130\u2500\u2500\u2500\u2500\u2510\n        \u2502 LD30 \ud30c\uc2f1 \ub85c\uc9c1 \u2502\n        \u2502 MAVLink \ud328\ud0a4\uc9d5 \u2502\n        \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                  MAVLink UART\n                       \u2502\n                 \ud53d\uc2a4\ud638\ud06c \ube44\ud589 \ucee8\ud2b8\ub864\ub7ec\n                       \u2502\n        \ubbf8\uc158 \ud50c\ub798\ub108 \/ QGroundControl\n<\/code><\/pre>\n\n\n\n<p><\/p>","protected":false},"excerpt":{"rendered":"<p>This guide provides a fully working, no-extra-documentation-needed solution to integrate: LD30-S1R \u2192 Companion Computer (Raspberry Pi \/ Jetson \/ Android) [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":6339,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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