Benewake TF miniu Plus i2c obstacle avoidance multiple direction

divyanshu_naugriya · May 17, 2024, 5:29am

Hii ,
i am using tf mini plus i2c for front, back, left, right and down with the pixhawk 6c mini but we got error in that " parametrer_reset" but when i use tf-luna on uart port and tf mini plus on i2c port that time its working perfectlly.
but i want to use tf luna on uart port for downward and tf mini plus on i2c port for forward, backward, left, and right for obstacle avoidance.
any budy can help on that pls let me know thankyou in advance
Thanks & Regards
Divyanshu Naugriya

divyanshu_naugriya · May 17, 2024, 5:53am

@rmackay9 can you help on that.

Anup_Ahlawat · May 17, 2024, 5:39pm

Can you please Specify the problem in more details what the problem you are facing?

As far as I understand at first you are connecting all of them to i2c i.e left , right, front, back, bottom but facing the problem ?

Before connecting all of them please consider the power requirements of i2C port can supply and the sensor requirements.

divyanshu_naugriya · May 18, 2024, 10:25am

@Anup_Ahlawat no facing is not problem problem is this we did not get data from sensor and also i had done power connection seprately with buck converter 5v.

Anup_Ahlawat · May 18, 2024, 5:10pm

Can you share the param file ?

geofrancis · May 18, 2024, 5:43pm

do they work individually? have you changed the i2c address of each sensor?

divyanshu_naugriya · May 20, 2024, 6:12am

@geofrancis yes i changed

divyanshu_naugriya · May 20, 2024, 8:40am

pixhawk 6c mini.param (18.9 KB)
pls find the param file . @Anup_Ahlawat

Anup_Ahlawat · May 21, 2024, 9:27am

as i see from param “RNGFND4_ADDR,16” but the sensor type is benawake serial. so set it to 0.

and i am assuming you have connected the rangefinder “TELEM-2” of PIXHWAK 6C. and from param i only see 3 i2c sensor for rangefinder(In your problem statement it is 4).
and check your address too:
(please note that addressing is decimal in ArduCopter : Hex.10 = Dec 16 and so on)

divyanshu_naugriya · May 21, 2024, 10:56am

rngfnd 4 is working with telemetry port but which 3 sensor i am using with i2c is not working i also changed the addr value for that 16,17,18 but still not working
the error we got rng fnd 1 is not detected

divyanshu_naugriya · May 21, 2024, 11:02am

pixhawk 6c mini UPDATED .param (18.9

this is updated param file and the ss for reference

divyanshu_naugriya · May 21, 2024, 11:03am

@Anup_Ahlawat
kindly find latest attachment .

Anup_Ahlawat · May 21, 2024, 11:25am

Hi
can you please tell me the exact hexadecimal address of your i2C sensor?
It is probably because you have enetered the wrong i2c address for the sake of simplicity i would reccomend to keep them 0x01,0x02,0x03 and please check that none of the adress should conflict with compass i2c address.

(please note that addressing is decimal in ArduCopter : Hex.10 = Dec 16 and so on)

geofrancis · May 22, 2024, 5:37am

Can you run the i2c scanner lua script to see if any are detected?

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/i2c_scan.lua

-- This script scans for devices on the i2c bus

---@diagnostic disable: need-check-nil

local address = 0
local found = 0

local i2c_bus = i2c:get_device(0,0)
i2c_bus:set_retries(10)

function update() -- this is the loop which periodically runs

  i2c_bus:set_address(address)

  if i2c_bus:read_registers(0) then
      gcs:send_text(0, "Found I2C at " .. tostring(address))
      found = found + 1
  end

  address = address + 1

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