How can I add a mini sonar sensor GL041MT GL042MT to my ArduRover firmware?

ArduRover
1

hello!
Based on Ardurover firmware,
I am building and testing a USV myself.

Due to funding issues, USVs are being manufactured using cheap parts.

Due to the need for underwater sonar sensors,
I purchased a UART-based sonar sensor from AliExpress and am trying to connect it, but it doesn’t work as I want.

It would be great if you could share the method.

I would like to measure the water depth using the sensor I purchased and check it in GCS.

If this sensor is compatible, you will be able to test the sonar function for a small amount of money in the future.

What direction should we move forward?

Below is information on the sonar sensor I purchased.

https://www.aliexpress.com/item/1005005250918774.html?spm=a2g0o.order_list.order_list_main.44.2601140flTWNhl&gatewayAdapt=glo2kor

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2

Sonars

4

The sonar sensor I want to use does not have an official Ardupilot document.
Oh, my…

5

Let’s focus on it.

If the user requests it, is it the content that adds the equipment?

6

Looks like a nice project for driver development :slight_smile:

7

I ordered a similar one, I’m waiting for it to arrive. Apparently, you will need to do something that would be transmitted via the nmea protocol.

8

Simply setting SERIAL communication settings and RNGFND1_TYPE to NMEA does not work.
I don’t know for what reason.

9

You need an intermediate device to convert (arduino for example) to nmea.

10

What do you think?

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11

It would just need the checksum modified to work with my i2c adapter.

12

First, let’s transmit using the NMEA protocol using Arduino.
Chet, I’m going to try using GPT.
Because I am an ordinary person without basic knowledge.

13

I have already done it, I already have a i2c sonar adapter, it just needed the checksum modified as the protocol is basically the same between the GL042MT and SR04T. I haven’t got a sonar to test it with.

1 Like
14

Yes, you can do as I suggested, but you can also do as @geofrancis says.

15

Is it normal to connect like this?

I’m sorry I don’t know much.

Ardurover Parameter settings
SERIAL2_PROTOCOL->9 (Rangefinder)
SERIAL2_BAUD->9 (9600)

Arduino source code settings
#include <Wire.h>
#include <SoftwareSerial.h>

#define I2C_SLAVE_ADDR 0x09
//Use ardupilot rangefinder set to lighware i2c address 9.

int pinRX = 10;
int pinTX = 11;
SoftwareSerial mySerial(7, 8);
unsigned char data_buffer[4] = {0};
int distance = 0;
unsigned char CS;
uint8_t Index;
byte received;

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16

Which method is better?

A method that does not burden both Arduino and Pixhawk.

17

have you used Arduino before? do you know how to wire i2c?

19

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Connect like this,

https://ardupilot.org/copter/docs/common-jsn-sr04t.html

Can I set this up in Mission Planner?

20

set the rangefinder type to lightware i2c and its address to 9 in mission planner parameters.

21

thank you

RNGFND1_TYPE = 7(LightWareI2C)
RNGFND1_ADDR = 9
RNGFND1_MIN_CM=5
RNGFND1_MAX_CM = 600

Let’s modify the parameters like this.

When you look at the photo I posted, is the way to connect them the right way?

22

yes your diagram looks correct.