How Can I get 8000mm ranging on the using the stmduino VL53L1 library?

[gramcracker]

I am using the VL53L1 sensor and am unable to get further than 3.5 meters, and then I get the ranging status 4: OUTOFBOUNDS_FAIL.
This is how I set it up:

bool Sensor::ConfigureSensor(TOF &tofSensor)
{
    Log.noticeln("Configuring [%s]", tofSensor.name);

    if (tofSensor.sensor_object == nullptr)
    {
        Log.fatal("No TOF sensor object initialized.");
        return false;
    }

    VL53L1_Error status;

    status = tofSensor.sensor_object->InitSensor(tofSensor.address);
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {
        Log.fatal("Failed to initialize %s. Status: %d. Halting.", tofSensor.name, status);
        while (1){;}
        return false;
    }

    Log.noticeln("%s address set to 0x%x", tofSensor.name, tofSensor.address);

    status = tofSensor.sensor_object->VL53L1_SetPresetMode(VL53L1_PRESETMODE_RANGING);
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {
        Log.errorln("Failed to set preset mode for %s", tofSensor.name);
        return false;
    }

    status = tofSensor.sensor_object->VL53L1_SetDistanceMode(VL53L1_DISTANCEMODE_LONG);
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {
        Log.errorln("Failed to set distance mode for %s", tofSensor.name);
        return false;
    }

    status = tofSensor.sensor_object->VL53L1_SetMeasurementTimingBudgetMicroSeconds(200000);
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {
        Log.errorln("Failed to set timing budget for %s", tofSensor.name);
        return false;
    }

    VL53L1_RoiConfig_t roiConfig;
    roiConfig.NumberOfRoi = 1;

    roiConfig.UserRois[0].TopLeftX = TL_X;
    roiConfig.UserRois[0].TopLeftY = TL_Y; 
    roiConfig.UserRois[0].BotRightX = BR_X;
    roiConfig.UserRois[0].BotRightY = BR_Y;
    
    status = tofSensor.sensor_object->VL53L1_SetROI(&roiConfig);
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {

        Log.errorln("Failed to set ROI for %s. Status: [%d]", tofSensor.name, status);

        return false;
    }

    status = tofSensor.sensor_object->VL53L1_StartMeasurement();
    delay(10);
    if (status != VL53L1_ERROR_NONE)
    {
        Log.errorln("Failed to start measurement for %s. Status: [%d]", tofSensor.name, status);  
        return false;
    }

    return true;
}

[fpistm]

/cc @cparata

[cparata]

Hello @gramcracker ,
I suggest to give a look at the Application Notes that you can find here. As you can see, you must configure the driver in Medium Distance Mode at 30 Hz and with full FoV to get the 8m measurements and you need also to have a high reflectance of the target (it means a big and white object) and dark ambient conditions (No light in the room).
Best Regards,
Carlo

[cparata]

I also noticed that the current Arduino library is based on the version 6.5.1.2350 of the VL53L1 core APIs. The last available version on ST.com is 6.6.19.2686. Maybe it can influence the performance for long range measurements. Unfortunately, I don't have bandwidth to update the Arduino library in the coming months. Any contribute from the community is welcome.
Best Regards,
Carlo