This Project Reads out I2C Rangefinders and sends out MAVLink Distance Message via Serial Port. The Sensors are connected via an TCA9548A I2C Multiplexer Board. We used:

• 8 GY-US42v2 Sonar Rangefinders
• 8 TOF10120 Time of Flight Optical Rangefinders
• 1 TCA9548
• 1 Arduino Pro Mini

The System was planed for our autonomous Art mediator robot.

This Project is based of this sketch from partickporier51

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