We are currently building a setup with 4 Benewake Rangefinders (3 front (L,M,R) facing , 1 down) and are trying to integrate them via CAN since we don’t have enough serial ports.
As CAN Nodes we are using the MATEK L431 with the rangefinder firmware and gave them fix NODE IDs and rangefinder addresses.
So far so good, we get 4 rangefinders detected in Ardupilot and can read data from all of them.
What made us curious is this Note in the docs:
The orientation of the rangefinder (RNGFND1_ORIENT) must be set to 0 on the adaptor node.
https://ardupilot.org/dev/docs/common-ap-periph-usage-examples.html
So we are not quite sure if we have to set all the rangefinder specific data in the Node firmware as well as in Ardupilot, or if the actual ORIENT parameter has to be set in Ardupilot only?
What about MAX, MIN, …?
Thanks a lot for the help!
Steffen