> For the complete documentation index, see [llms.txt](https://libooogo.gitbook.io/esplane/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://libooogo.gitbook.io/esplane/developer-guide/20-ding-gao-mo-shi-kai-fa.md).

# 16 Height-hold Mode Development

## 一、激光传感器VL53L1X调试记录

{% content-ref url="/pages/-M3kKT9yRSNuDFCO3yuV" %}
[07 Laser Sensor Vl53l1x Driver](/esplane/developer-guide/08esp32+-ji-guang-chuan-gan-qi-vl53l1x-yi-zhi-yu-tiao-shi-fu-yuan-ma.md)
{% endcontent-ref %}

## 二、定高模式开发记录

### 1. Z-ranger v2 deck

Crazyflie原工程使用气压定高,当搭载vl53l1x扩展模块时,将切换为激光定高,最大高度可以达到4米.由于ESPlane目前没有引入扩展机制,将尝试将该部分代码直接移植到主框架中.

[z-ranger\_v2\_rev.a原理图](https://wiki.bitcraze.io/_media/projects:crazyflie2:expansionboards:z-ranger_v2_rev.a.pdf)

![Z-ranger v2 deck 原理图](/files/-M1yVQISVdS07KrIZQ-F)


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