Adding a rangefinder for autolanding

ArduPlane Plane 4.7
1

I tested the Autoland feature in version 4.7 Dev with some success. I upgraded to version 4.7 Beta and now I would like to add a rangefinder

  • Fixed wing frame (motorglider fitted with an airspeed sensor)
  • FC Matek: H742 wlite
  • Rangefinder: MTF-01P on UART8 SERIAL5
  • MTF-01 is configured for output protocol as “mav_apm” by using MicoAssitant

below are new settings on FC:

SERIAL5_BAUD 115
SERIAL5_OPTIONS 1024
SERIAL5_PROTOCOL 1
FLOW_TYPE 5
RNGFND1_TYPE 10
RNGFND1_MAX_CM 800
RNGFND1_MIN_CM 1
RNGFND1_ORIENT 25
RNGFND_LANDING 1

At power up I now have this warning:

d
k’ must not be set: use MAVn OPTION bit 1 instea
PreArm: SERIAL5_OPTION bit 10 (no forward mavlin

Not sure how to deal with this warning to stay on the safe side

Any help would be appreciated

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2

We moved the functionality of the parameter. Set SERIAL5_OPTIONS to 0 and instead use the corresponding MAVx_OPTIONS bit “Don’t forward mavlink to/from”. To work out which MAVx parameter it would be you count the number of serial ports set to MAVLink 1 or 2. So if serial 1 thru 4 are also MAVLink then it would be MAV5 if only 1 and 2 are MAVLink then it would be `MAV3` ect.

1 Like
3

Thanks for your quick reply

So in my case

(SERIAL0_PROTOCOL 2)
SERIAL1_PROTOCOL 2
SERIAL2_PROTOCOL 2
SERIAL3_PROTOCOL 5
SERIAL4_PROTOCOL 5
SERIAL5_PROTOCOL 1
…

means I must now set MAV3_OPTIONS to: Don’t forward mavlink to/from

4

I forgot about SERIAL0, it also counts so it would be MAV4_OPTIONS

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