Benewake TFmini LIDAR works on Ardupilot

ArduCopter
55

Hi @ppoirier, just get my Tfmini that I want to use first with Serial (telem2). Working great on the PC interface via my FTDI232, seems very accurate. Just to be sure of my config before installing it to my Pixhawk:

  1. Activate Pix mode in PC interface (no need to save?)
  2. Apply the parameters described in the Benewake doc:
    SERIAL2_PROTOCOL = 9 (Lidar)
    SERIAL2_BAUD = 115
    RNGFND_TYPE = 8 (LightWareSerial)
    RNGFND_SCALING = 1
    RNGFND_MIN_CM = 5
    RNGFND_MAX_CM = 600
    RNGFND_GNDCLEAR = 5

I put 600 for RNGFND_MAX_CM in order to not have bad surprises…
Seems working like this, but if you have any other recommendation, you’re welcome!