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About Lidar Lite v3 support


(ppoirier) #22

Hello Hadi

I am currently using the Lidar Lite V3 no problem.
What is your configuration ?
Flight Controller cable configuration and Parameters


(rmackay9) #23

Yes, the -v3 should work with Copter-3.5-rc5 (or any of the release candidates actually). I'd recommend using I2C to connect to the flight controller and set RNGFND_TYPE = 15.


(Arif Gezalov) #24

Is it ok to use LightWare SF11/C on I2C as well? Was "I2C blocking call" issue already fixed?


(Francisco Ferreira) #25

Yes, you can use LightWare rangefinders in I2C, the issue was fixed in 3.5.


(Akm) #26

Does Garmin Lidar Lite v3 works fine with Pixhawk (Firmware : AC3.5.0-rc5) using PWM?
If yes, are the PWM & BEC connections same for v3, as the one's mentioned in the following doc?http://ardupilot.org/copter/docs/common-rangefinder-lidarlite.html


(rmackay9) #27

I haven't tried the LidarLiteV3 using the pwm output (from the sensor) but it should work.


(Akm) #28

@rmackay9 - Thanks for your response.

I tried connecting LidarLiteV3 using PWM (BEC connection) as per this guide - http://ardupilot.org/copter/docs/common-rangefinder-lidarlite.html & with following parameters:

RNGFND_TYPE = 5
RNGFND_STOP_PIN = 55
BRD_PWM_COUNT = 4
RNGFND_SCALING = 1
RNGFND_OFFSET = 0

But still getting Bad Lidar Health in MP HUD with no Sonar Range and Voltage values. I installed APM:Copter V3.5.0-rc6 (beta version), but the Mission Planner logs are printing APM:Copter V3.4.6 version as well.

INFO MissionPlanner.Utilities.VersionDetection - APM:Copter V3.5.0-rc6 (efab409b)
INFO MissionPlanner.Utilities.VersionDetection - 3.5.0.6
INFO MissionPlanner.Utilities.VersionDetection - APM:Copter V3.4.6
INFO MissionPlanner.Utilities.VersionDetection - 3.4.6
bps 590 loss 0 left 108 mem 32.95703125 mav2 False sign False mav1 18 mav2 0 sig

Can you help me debug this? Any pointers will be appreciated.


(henrik04) #29

LidarLite v3 (Garmin) connected to 3DR PixXXX via I2C:

My question is: Can you use this device for obstacle avoidance?
- A bit like a dynamic fence?

Thank you in advance.
Henri


(ppoirier) #30

@henrik04
Yes it can be used with the Avoidance Library, http://ardupilot.org/dev/docs/code-overview-object-avoidance.html.
But just a single sensor will make the use-case quite limited, but you can certainly experiment with this.


(rmackay9) #31

@henrik04,
Yes, and here's a blog post I did including a video of using a single lidar for forward or upward avoidance.
http://discuss.ardupilot.org/t/copter-object-avoidance-with-upward-facing-lidar?source_topic_id=15278

I guess I should add this to the wiki as well!

As a side note, thanks @ppoirier for your help in this area!


(rmackay9) #32

@ak1801,

Re the LidarLiteV3 using PWM, I connected my LidarLiteV3 as described on the wiki and it worked OK. It actually took me quite a while to get the wiring right. I think I will improve the wiki page for the LidarLiteV3 including making a more clear picture.

In any case, you connected the wires as described on the wiki page In particular you connected a resistor of about 470 ohms between AUX OUT 5's top and bottom pins and also connected the Lidar's 3rd pin to the AUX OUT 5's bottom bin?


(Akm) #33

@rmackay9,

Yes, I was following the old guide for making the connections - http://ardupilot.org/copter/docs/common-rangefinder-lidarlite.html

But, I recently found out that there has been change in pinout wires from the lidar and the above guide does not work for Lidar Lite V3.

Finally, I referred to the official manual by Garmin - https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf

After changing the connections, I got the lidar working with both I2C & PWM as I am getting the Sonar Range. Just to mention, I am getting Sonar Voltage in PWM only and not in I2C.

Also, I found a new guide/manual for making correct connections & settings of Lidar Lite V3 with PixHawk running on ArduPilot firmware - https://www.lambdrive.com/depot/Robotics/Controller/Firmware/ArduPilot/LIDAR-Lite.html#connection

Please do take a look and update the ArduPilot's official wiki with respective changes for connecting Lidar Lite V3. It will save time and will help others who are working with V3.

Note -
1. Firmware installed - APM:Copter V3.5.0-rc6 (efab409b)
2. With I2C approach, I connected the lidar directly to pixhawk (without adding the capacitor but it is recommended as per the official manual)
3. With PWM approach, I added a 470 Ohm resistor as guided in official manual by Garmin.

Thanks for your support.


(cala2) #34

Wiring connection is the same to V2?, I never make it work stable with pwm and powered by pixhawk rail,


(Marv3) #35

It worked fine for me when I tried the ardupilot s blog wiring by pwm.
But the wiring for I2v is a bit different. You can take a look of the LidarLitev3 datasheet published by Garmin.


(George Muirhead) #36

Is lidar lite v3 working with arduplane yet?


(rmackay9) #37

George,
The library is shared so it should work for plane as well. The issue may be that Plane's release is a little behind schedule. There's certainly been a fair bit of talk on the weekly dev call that we need to get the plane release out so I think it's coming. It's possible that it's in the current beta but I'm not totally sure (being a copter person).


(George Muirhead) #38

I have tested it with latest plane 3.8 beta and it's working .


(abu) #39

I want to buy a LidarLite v3, but I am using ArduCopter v3.4
My question: does LidarLite V3 work on ArduCopter v3.4?


(Arif Gezalov) #40

Is this already available in 3.5.0-rc8? I'm trying to configure Maxbotix Analog sonar as a simple forward-facing collision avoidance sensor, so I defined it in RNGFND2 as oriented forward (RNGFND2_ORIENT=0) but seems like vehicle doesn't know about it: no reaction on obstacles ahead. The Sonar itself seems working though: if I change orientation to 25, "sonarrange" in Mission Planner shows correct distance then. Are there some other settings I should be aware of?


(rmackay9) #41

@arifg,

To make the forward facing range finder be used for object avoidance the PRX_ parameters also need to be set. In particular, PRX_TYPE must be "4".
Documenting this is on the wiki updates to-do list so I'll try and get to that soon because we are getting close to the final release.
Thanks for the report by the way.