Ascend Engineering
USB-C boards connect directly. Boards with only a UART need a USB-serial adapter on J5 — baud must match the firmware. Nothing is written until you press Save to board.
Mounting: the tip of the A on the case points forward on the drone. That is CH7 (connector J8). The view starts behind the vehicle looking forward, so the nose points into the screen and screen-right is the drone's right.
Point the sensors at open space and hold the vehicle still. Anything that stays close in nearly every frame is the drone itself — the world does not hold that steady.
Raise this if part of your airframe sits further out.
Switch the view to Paint mask (top left), then drag on the cloud. In Look around mode dragging rotates instead — and shift always rotates, whichever mode you are in.
Drone sitting below the sensors? This removes the downward rows on all eight in one go:
If a leg only clips the near part of a zone, you can drop just the close returns and still see the wall metres beyond it.
Writes the mask to flash. It is applied immediately and reloaded on every boot.
Connect the board to see all 512 zones live. Paint over the returns coming off your own airframe and write the result to flash — the board then ignores them on every boot.
third_party/tof_visualizer.
Each grid is one sensor's 8×8 zones as it sees them — up at the top, down at the bottom. Paint here for exact edits; colour is range, grey is excluded.