Airbot Omnibus Nano v6 and a TFMini Plus Lidar

ArduCopter Copter 4.0
1

I have everything set up, the tx and rx wires are going to rx3 and tx3 respectively and I have power coming from the onboard 5v bec. https://www.electroya.com/en/wp-content/uploads/2018/11/Airbot-Nano-V6-pinmap-top.jpg

I followed Ardupilots guide on setting this up, serial 3 instead of serial 4 of course. I can see that the laser inside is working, but I am not getting any indication that the lidar is working in Mission Planner. I have my rx and tx wires setup on a servo cable to switch back and forth and I dont get any sonarrange or rangefinder1 information under the ‘Status’ tab.

2

I’m following this guide here, does this firmware have lidar support? https://ardupilot.org/copter/docs/common-omnibusnanov6.html

3

Are you using the default HWDEF for the omnibus nano? Is the TFMini Plus serial? If so, the serial 3 tx rx pins are assigned to the compass by default, and are i2c.

4

Ah, maybe thats my problem. Its the uart version, not i2c and yes I have it in the tx3 rx3 pins. Do I need to convert it to i2c?

5

If you do not use BLHeli ESC telemetry, you can use RX4 for the TFmini.
RX4 is on the “4in1 ESC socket” or a solder pad close to the connector.
Make sure RX4 is not connected to the ESC.

Ardupilot doesn*t send any data to the TFmini.
So the TX wire from the Nano to RX of the TFmini is not needed.

6

Can I not use Rx3? Im not running a compass or gps, this is strictly for indoor use. I’ve updated serial 3 role in MP, but it doesn’t get data

7

Not as a serial port, it’s configured as an I2C port. You can use Rx/Tx 1 or if you don’t have GPS use 6. Or 4 as suggested.

8

When I go into mission planner, I don’t have a serial 6 to set… I have a wifi telemetry (tx1) onboard and this lidar.

9

What if I left it on Rx3 and followed this?

https://discuss.ardupilot.org/t/how-to-make-the-tfmini-rangefinder-talk-i2c/

10

You linked to the Ardupilot setup for this FC so I assumed you would know that UART6 is Serial 3. You know, the one configured for GPS by default? Or 4 but that has been suggested twice now.

11

Ok, no I didn’t know that. I am looking at a pinout diagram but I didn’t know uart6 is serial 3. Ok, so I’m going to run just the tx cable from the tfmini to the rx pad for the GPS and configure serial 3 to be lidar…?

12

or what pad is serial 4?

13

Yes, you can do that or the Serial 4 connection is on the Motor Output connector labeled ESC Telemetry or something like that.

14

Ok I have the green wire from the tfmini (tx wire) to Rx6 on the omnibus nano. I have serial 3 set to 9 and set the connection speed. I also rngfind1_type set to 20. When I plug into MP, I get no sonar data.