Displaying LIDAR Altitude on OSD

ArduCopter
1

Hello everyone!

I have a CubeOrange flight controller and an external MinimOSD board. Can you please advise on how to display LIDAR altitude on the OSD screen? In the default settings, I only see altitude displayed based on GPS/barometer readings, but I specifically need to use LIDAR data.

Thank you in advance for your help.

2

What firmware are you running on the minimOSD?

3

I use MWOSD GUI Configurator from (https://www.virtualpilot.co.uk/) and firmware (last update more than 2 years ago((( ) - MW-OSD (scarab-osd).

4

Looks like you’ll have to build it yourself with custom options set in scarab-osd/MW_OSD/Config.h:

/******************** Mavlink distance sensor settings *********************/
// Choose ONLY ONE SENSOR option AND enable MAVSENSORACTIVE
//#define MAVSENSORGPSACTIVE 5      // When enabled, displays sensor distance instead of GPS altitude. Default = 5m. Requires stream configured on MAV FC
//#define MAVSENSOR173              // When enabled, uses RANGEFINDER - MAVLINK #173 command for the distance. Requires MAVSENSORGPSACTIVE enabled
//#define MAVSENSOR132              // When enabled, uses INFO_DISTANCE - MAVLINK #132 command for the distance. Requires MAVSENSORGPSACTIVE enabled
1 Like
5

OK, thank you! I will try it and then write you!
Thanks again!

1 Like
6

Hi there!
I tried to display the LiDAR data on the OSD following your advice. To do this, I uncommented the following lines:
#define MAVSENSOR132 // When enabled, uses INFO_DISTANCE - MAVLINK #132 command for the distance. Requires MAVSENSORGPSACTIVE enabled and compile this osd project in the arduino ide.
In Mission Planner settings, I set SR2_EXTRA3 to 5 Hz and configured Serial2 to 115200 baud rate and MAVLink 1. In theory, the OSD should already be receiving information from the LiDAR. But how do I display this information on the screen? I think I need to specify my own LiDAR display option in the custom.ino file in the OSD. However, I haven’t been successful so far, as I don’t fully understand the code yet. I would appreciate any advice on the next steps. Thank you in advance.
P.S. I use MWOSD configurator, and as I think my custom lidar could show on page “Custom”?

7

Oh boy, haven’t configured an OSD in years… is the link from FC to OSD working, i.e. are you getting some telemetry other than lidar on your OSD?

I think, it should be enough when you select GPS Altitude in the MWOSD configurator, as per the code description: //#define MAVSENSORGPSACTIVE 5 // When enabled, displays sensor distance instead of GPS altitude.

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