Hi There!
Iv’e been trying to perform a terrain following flight (in Auto and Guided modes), using a lidar V3 lite (produced by Garmin). This Lidar is connected to the Pixhawk via I2C exit.
It didn’t go as expected. I tried to change the parameters that can affect this type of flight, and still, the same situation arisses.
The parameters I tried to change are these, as follows:
RNGFND1_TYPE = 15
RNGFND1_MAX_CM =250, 150, 100 (I tried a few combinations…)
RNGFND1_MIN_CM = 50
RNGFND1_GND_CLEAR = 5
RNGFND1_ORIENT = 25 -> 0 (I tried a few combinations…)
RNGFND1_PWRRNG = 0
WPNAV_RFND_USE = 0
AVOID_ANGLE_MAX = 10
AVOID_BEHAVE = 0->1 (I tried a few combinations…)
AVOID_DIST_MAX = 2
AVOID_ENABLE = 2
AVOID_MARGIN = 2
TERRAIN_FOLLOW = 1
TERRAIN_SPACING = 30
TERRAIN_ENABLE = 1
OA_TYPE = 0->1->2 (I tried a few combinations…)
Does anyone know something I missed?
In addition, does someone know what kind of Lidars can be used for Terrain Follow flights? Perhaps my lidar can’t perform this type of flight…?
Thank you!
