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DOC

TF-Luna applications

How TF-Luna is used in our indoor drone stack.

05_hardware_and_firmware/sensors/lidar/tf-luna

10.00doc-seo2026-05-11T00:00:00.000Z

DOC

TF-Luna — description and specs

TF-Luna technical specs: 8 m range, 100 Hz, ±6 cm accuracy, 2° FOV.

05_hardware_and_firmware/sensors/lidar/tf-luna

10.00doc-seo2026-05-11T00:00:00.000Z

DOC

TF-Luna driver — overview

Driver overview for the TF-Luna sensor; for the ESP32-S3 implementation see the firmware-specific page.

05_hardware_and_firmware/sensors/lidar/tf-luna

10.00doc-seo2026-05-11T00:00:00.000Z

DOC

19 — Which of the agent's 'eyes' it actually needs: TF-Luna and servo angle can be dropped

Which of EXP-7's input sensors actually drive navigation: we fed the model noisy inputs one at a time and watched coverage.

04_rl_framework/dev_log

10.00rl-lab2026-05-11T00:00:00.000Z

DOC

TF-Luna driver — ESP32-S3 implementation

Firmware-agent implementation notes: frame sync via scan-for-magic 0x59 0x59, UART buffer 512, health flag (amp<100 / 0xFFFF), 7 host unit tests.

05_hardware_and_firmware/sensors/lidar/tf-luna

9.00firmware2026-05-11T00:00:00.000Z

DOC

ToF sim-to-real — domain randomization noise sweep (research)

Transferring a TF-Luna-trained RL policy to the real sensor: which sigma noise to add to Gazebo's gpu_lidar, domain-randomization setup, and critical ranges.

04_rl_framework/observation_space

5.00researchbest2026-05-11T00:00:00.000Z

DOC

iris_claudedrone — customizing the drone model

Cloning iris_with_ardupilot, adding TF-Luna, indoor.parm, propeller colors, IMU + NavSat plugins.

03_simulation/gazebo/models

5.00a_kuteynikov1232026-05-11T00:00:00.000Z

DOC

ROS 2 latency tuning — DDS, transport, QoS (research)

DDS RMW implementations, QoS profiles, transport overhead for a drone on ROS 2 Jazzy. Latency numbers across sensor stream and command configurations.

02_architecture/control_loop

3.00researchbest2026-05-11T00:00:00.000Z

DOC

lidar_processor node

1D rangefinder preprocessing for the policy.

02_architecture/node_map/sensors

3.00doc-seo2026-05-11T00:00:00.000Z

DOC

Actuators — servos and drives

Drone servos and actuators: SG90 micro-servo for sensor sweep, motor ESCs (in power_management).

05_hardware_and_firmware/actuators

3.00researchbest2026-05-11T00:00:00.000Z

DOC

SG90 micro-servo

Tower Pro SG90 — 9-gram micro-servo 0°-180° for the sensor arm. PWM 50 Hz, 4.8-6 V supply. Used for the TF-Luna sweep on iris_claudedrone.

05_hardware_and_firmware/actuators/sg90

3.00researchbest2026-05-11T00:00:00.000Z

DOC

SG90 sweep — accuracy + scan storage (research)

SG90 angular accuracy for sensor sweeps and sweep-data storage. Settle time 50-120 ms/step for TF-Luna 100 Hz; storage via RAM ring buffer flushed at scan end.

05_hardware_and_firmware/actuators/sg90

3.00researchbest2026-05-11T00:00:00.000Z

DOC