Hello Hadi
I am currently using the Lidar Lite V3 no problem.
What is your configuration ?
Flight Controller cable configuration and Parameters
Yes, the -v3 should work with Copter-3.5-rc5 (or any of the release candidates actually). Iād recommend using I2C to connect to the flight controller and set RNGFND_TYPE = 15.
Is it ok to use LightWare SF11/C on I2C as well? Was āI2C blocking callā issue already fixed?
Yes, you can use LightWare rangefinders in I2C, the issue was fixed in 3.5.
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 oneās mentioned in the following doc?http://ardupilot.org/copter/docs/common-rangefinder-lidarlite.html
I havenāt tried the LidarLiteV3 using the pwm output (from the sensor) but it should work.
@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.
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
@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.
@henrik04,
Yes, and hereās 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
I guess I should add this to the wiki as well!
As a side note, thanks @ppoirier for your help in this area!
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 5ās top and bottom pins and also connected the Lidarās 3rd pin to the AUX OUT 5ās bottom bin?
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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 ArduPilotās official wiki with respective changes for connecting Lidar Lite V3. It will save time and will help others who are working with V3.
Note -
- Firmware installed - APM:Copter V3.5.0-rc6 (efab409b)
- With I2C approach, I connected the lidar directly to pixhawk (without adding the capacitor but it is recommended as per the official manual)
- With PWM approach, I added a 470 Ohm resistor as guided in official manual by Garmin.
Thanks for your support.
Wiring connection is the same to V2?, I never make it work stable with pwm and powered by pixhawk rail,
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.
http://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf
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Is lidar lite v3 working with arduplane yet?
George,
The library is shared so it should work for plane as well. The issue may be that Planeās release is a little behind schedule. Thereās certainly been a fair bit of talk on the weekly dev call that we need to get the plane release out so I think itās coming. Itās possible that itās in the current beta but Iām not totally sure (being a copter person).
I have tested it with latest plane 3.8 beta and itās working .
I want to buy a LidarLite v3, but I am using ArduCopter v3.4
My question: does LidarLite V3 work on ArduCopter v3.4?
Is this already available in 3.5.0-rc8? Iām 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 doesnāt know about it: no reaction on obstacles ahead. The Sonar itself seems working though: if I change orientation to 25, āsonarrangeā in Mission Planner shows correct distance then. Are there some other settings I should be aware of?
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 ā4ā.
Documenting this is on the wiki updates to-do list so Iāll try and get to that soon because we are getting close to the final release.
Thanks for the report by the way.
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