Moved to another thread: Using LIDAR for auto landing, which one?
Hi everyone. I have a question regarding the use of two lidar tfmini in a vehicle to avoid obstacles. I have a pixhawk controller 2. I changed the mode to pix mode. I connected sensors for telem1 and telem2. I configured according to the instructions. It seems that the sensors show the correct distance from the obstacle. The mission planner shows which sensor detects an obstacle. They are set up to avoid an obstacle at a distance of 1.9 m. On the table in steering mode everything seems to work correctly. Sometimes it’s like being stupid and turning into an obstacle instead of avoiding it. But when the vehicle moves in AUTO mode, starts to drive along the planned route and encounters the first and second obstacle, it will avoid them, but next time it starts to spin in circles. What could I do wrong, that it does not work properly?
Hi Chris,
Is the RNGFND_RMETRIC set on 1 needed? I haven’t found anything like this in the wikis or forums. Thanks.
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hi, I didn’t changed this value, thinks 1 is default.
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is it possible to use several tfminis in one drone with ardupilot? for example front, left and right directions and back as well. Is it worth of it? It is just idea to make sure drone doesnt hit the obstackles and of course to make everything safer.
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Talk to ppoirier.
He has worked out how to do it I believe.
Thank you for answer. As I read the whole thread, here was exact topic I was looking for! Avoidance Experiments with the POC and Benewake TFMINI
Wow, really nice test indeed!
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Glad it was what your looking.
Patrick P, Tridge and Randy are my heros on this site. They have all the answers. lol.
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Yes, they have lot of knowledge about this area. I like this kind of open source point of view to tune different kind of setups. This area of technology is also growing really fast and all the different kind of branches are being tested, so I have to test… or try to test 
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Does the sparkfun i2c version work on Copter 3.6 out of the box?
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Interesting, that BENEWAKE is now offering this Serial to I2C converter. Yes it should work OK but you need to change the I2c address.
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It has I2C interface right in the module, not as external converter.
There is a 0x10-0x78 address range as per manual, but I didn’t found how to change the default.
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OK so the additional module would act as a power supply and I2C driver ?
Anyway you are welcome to test and report.
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Ok, that’s my plan
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Any luck finding how to setup multiple tfmini units on i2c bus?
No, I didn’t investigated how to connect multiple. Anyway I still not received my tfmini.
i see, it`s ok. it always puzzles me why manufacturers do this thing half-way always - the whole point to use i2c bus is to have multiple devices on it, but, in order to do so you need to be able to set them apart by assigning individual addresses. if that would work we could use multiple tfmini units on all axles for object avoidance flight so easy, but, it seems it is again a problem. i just hope as it has a programmable interface, may be there is a command to set it up like w did before into ‘pix mode’, etc.
that i2c bus - does it work on all tfmini units, ones produces in the spring as well, or is it only on the latest batch/version of it?
ok, i actually bothered to follow the link and read the manual. so, it is an i2c version with no serial connectivity at all. it makes it a bit restrictive, i was hoping it is just an additional feature and there is still a way to connect it to a usual uart, if needed. but, good to know. Please let us know here when you`ll get it if there is any way to alter that default address and keep it set.
According to litterature the slave addres change is permanent , so theorically you set the different addresses , connect on the bus , use the lightware I2C driver to assign device by address and orientation
so, for that we need now new i2c tfmini driver for the arducopter, right?
@Siya Hello Siya , can you confirm that if we change adress of the I2C TFMINI, this change is in permanent memory so it keeps this adrres after power cycle ?
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