How to use two rangefinders in single CAN Node

[Blue_fire (Mithun)]

Hello,
I am working with MATEK L431 CAN Node for one of the projects. I have tested with a single rangefinder through CAN Node.
Can anyone please help me to integrate two rangefinders in a single node?

Thank You

ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Rangefinder/hwdef.dat

[Spectre_Avionics (Michał)]

Hi,
I am trying to connect an LW20/C via Matek L431 CAN Node.
Would you like to share your hardware and software (ardupilot parameters and CAN Node settings) configuration?
Thanks!

[Blue_fire (Mithun)]

Hi @Spectre_Avionics

First you need to change the CAN NODE firmware…
Only then rangefinder parameters will appear.

Firmware file for MATEK L431:

AP_Periph.bin (126.4 KB)

[Spectre_Avionics (Michał)]

Yeah, I uploaded firmware for rangefinder.
Still not getting any results
Lidar is connected to serial 2 (pins on the side of the board, not the connector)

[ppoirier]

Known issue, not yet fixed

AP_Periph not working with LightWareI2C

I have been testing the AP_Periph with the LightWare rangefinder and I cannot have it to work. The same rangefinder works when I use it with my Pixhawk over I2C by setting TYPE=7 and ADDR=102. However, when going to the AP_Periph, and setting the same parameters over UAVCAN GUI Tool, I can never get the uavcan.equipment.range_sensor.Measurement message out. When trying my old rangefinder LidarLightV3HP by change the TYPE=21, everything works. Since my LightWave is working with the Pixhawk, a…

[rishabsingh3003 (Rishabh Singh)]

My LW20 is on its way after a repair from Lightware. I can figure out the issue once its here.