I am looking to integrate a Terabee 60m Lidar into my aircraft for altitude control. I have it working in that the Range Finder 1 shows accurate measurements - but I am unable to get it in use for altitude control. It always says “Bad LiDAR Health” on MP. Anyone know how to fix this?
Also - I would ultimately like it to use the sensor to adjust altitude over a hill during loiter flight. Basically terrain following but in loiter. Is this possible?
I’m using a TeraBee Ranger Evo 60m since last year. The sensor works so far, but I also get the message “Bad Lidar Health”. How far from the ground is your terabee sensor mounted? I think the problem is caused by the minimal reading distance from the sensor (0.5m). Despite that, I’m able to fly auto mission with takeoff and RTL commands.
Terrain Following also work in Loiter if the sensor provides data.
I have the min range set to 50cm and the max to 60m. Distance from bottom of aircaft to ground at rest is about 10cm. I am getting accurate sensor data throughout flight - but it doesn’t seem to be using the LiDar for altitude control. For instance, aircraft altitude shows 5m but lidar shows 4m. How do I go about making the autopilot use LiDar for main altitude control.