Ardupilot TeraRanger Documentation mistake

alberto.munizaga · March 2, 2022, 6:00pm

Just FYI, I have a Teraranger Tower Evo, and in the documentation say you need to set prx_type to 3 to enable the sensor, and in reality is 6

May be 3 is for the Teraranger Tower, but for evo is 6

https://ardupilot.org/copter/docs/common-teraranger-tower-objectavoidance.html#common-teraranger-tower-objectavoidance

I know this is no very important, but was a quite confuse, especially becasue the video over there is the EVO.

geofrancis · March 6, 2022, 9:24am

Change it on github

github.com

ArduPilot/ardupilot_wiki/blob/master/common/source/docs/common-teraranger-tower-objectavoidance.rst

.. _common-teraranger-tower-objectavoidance:

=======================================
TeraRanger Tower/ Tower EVO (360 Lidar)
=======================================

.. note:: The Tower is no longer available and has been replaced by the Tower EVO.

The `TeraRanger Tower <https://www.terabee.com/portfolio-item/teraranger-tower-scanner-for-slam-and-collision-avoidance/>`__ can be used for Object Avoidance in Loiter and AltHold modes.  The sensor has a maximum usable range of about 4.5 meters.

The `TeraRanger Tower EVO <https://www.terabee.com/shop/lidar-tof-multi-directional-arrays/teraranger-tower-evo/>`__ can be used for Object Avoidance in Loiter and AltHold modes.  The sensor has a maximum usable range of about 60 meters.

Mounting the Sensor and Connecting
----------------------------------

..  youtube:: 4tF-2uYU1KE
    :width: 100%

The TeraRanger Tower should be mounted on the top of the vehicle so that sensors scans horizontally and its view is not obstructed by any portion of the vehicle including GPS mast, vehicle legs etc.

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