Hello
Take note that the POC sends a Heartbeat
command_heartbeat();
command_distance_1();
command_distance_2();
command_distance_3();
command_distance_4();
command_distance_5();
command_distance_6();
I dont use cmavnode, so I cannot comment on this part.
My preferred tool for debugging are QGroundControl Widgets : Analyse & Mavlink Inspector as showned on the picture above, you will be able to confirm the operation and values of Distance Sensor.
Which values does POC send in heatbeat message parameters?
Which values does POC send in DISTANCE_SENSOR message parameters?
Where can I find POC code? Is it opensource?
The POC is ARDUINO based, so if that can help, here is the heartbeat code:
}
void command_heartbeat() {
//< ID 1 for this system
int sysid = 100;
//< The component sending the message.
int compid = MAV_COMP_ID_PATHPLANNER;
// Define the system type, in this case ground control station
uint8_t system_type =MAV_TYPE_GCS;
uint8_t autopilot_type = MAV_AUTOPILOT_INVALID;
uint8_t system_mode = 0;
uint32_t custom_mode = 0;
uint8_t system_state = 0;
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
mavlink_msg_heartbeat_pack(sysid,compid, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message
//delay(1);
Serial.write(buf, len);
}
Thank you! I’ll keep trying.
As I mentioned on “Radar”/DISTANCE_SENSOR screen, I managed to get the “radar screen” displayed.
The problem was ArduCopter 3.4.6. When I switched to 3.5-rc11, a window simply poped-up.
I don’t recall now why I thought 3.4 was enough. Maybe a mistake.
Despite this, I recommend adding a note to http://ardupilot.org/dev/docs/code-overview-object-avoidance.html, stating that minimum version is 3.5.
@ppoirier, heartbeat messages were not necessary. I noticed that POC is using system_mode parameter with value zero. It seems that this value is invalid, since it is not in MAV_MODE_FLAG ENUM.
I’m sending distance_sensor messages for orientations 0-7, 24, and 25.
Now I’ll test if ArduCopter really uses these messages to avoid obstacles.
Godd, nice to know you are making progress.
Updating the wiki is something you could certainly do, it is quite easy, and its helping everyone 
Concerning the heartbeat, you are right, I used the feature as a standalone when working directly with the widget. The value “0” returns a Uninitialized system, state is unknown, that has no real incidence for this component, but thanks for pointing it.
nice, thats really cool. Could you share your arduino code? Most importantly the part where it sends the mavlink message. Are there any resources / libraries involved? Could you give me a hint, where to look for those?
thank you
Fabi
Hello,
The code is just exactly with is shown on my last replyabove
okay, thank you! but where is the heartbeat sending the distance measurement?
do you have any idea how to permanently change the i2c address of the lidar lite v3? I want to use 2 of them via i2c.
thank you
Fabianpedd,
Did you ever end up getting this to work for you?
which sonar or LIDAR are I using?
in the USA, where can I buy sonar or LIDAR for pixhawk 2.4.6?
I’ll use it on a quad
Just install QgroundControl , its part of the widgets
thanks!
I will install QGroundControl
Which message pack should I use to send the distance messages?
I’m guessing I need something that looks like the pack function for the heartbeat (mavlink_msg_heartbeat_pack(sysid,compid, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state))
But I’m not sure which pack to use. Also, if you know where to find a list of the pack functions, that would be great.
Thanks!
Take a look at my Arduino code:
https://github.com/patrickpoirier51/POC/blob/master/MAVLINK-POC.ino#L194
Hello Patrick
Thanks for the reply and link to your code! I really appreciate it.
I’m using SharpIR sensors, which are sampled at a baud rate of 9600. Do I have to feed the Pixhawk serial port (using Telem1) at 115200 like what your code is doing? or can I simply adjust the serial baud rate in pixhawk parameters to 9600? As you know, switching baud rate on a non-mega arduino is a bit tricky.
@MCITYFC you can use SoftwareSerial, and the Sharp Library for arduino.
Never been really successfull with the SharpIR , I prefer the VL53L0x for the same range.
Patrick, I have a LIDARLite v3 working as a horizontal proximity sensor (Mission Planner 1.3.52.0; Copter 3.5.4). The copter slides (annoyingly) to port side when the AVOID_MARGIN 2m is reached. From the info in your post I gather that I can set PROXIMITY_SENSOR 2 to cause a STOP. You mention that this can be configured using advanced options within Mission Planner. I’ve scoured MP Full Parameter List but can’t find any reference to this setting. Can you please advise further how to define AC_AVOID_USE_PROXIMITY_SENSOR value?
Thanks for your time.