Lidar doesn't work when RNGFND_ORIENT set to Up (24)

ArduCopter Copter 3.5
1

Hi guys.

I’ve got Leddarone working perfect when using the sensor looking down. The problem comes when you want to avoid the ceiling indoors and set the sensor upwards with RNGFND_ORIENT set to 24. Then the sensor just frozen up and says BAD LIDAR HEALTH. Any help please?

2

As far as I know the code does not support that yet.
I have a PR that has some small initial work on that, but it is "work-in-progress"


If you can help with that, it would be great.

3

Thanks for the answer!
Yes it is possible as you can see here.

http://ardupilot.org/copter/docs/common-rangefinder-objectavoidance.html#common-rangefinder-objectavoidance

But it doesn’t work and I don’t understand it. As you can see it is supposed to be very easy. There is something missing there, because I’ve done exactly as there. Any clue?

4

Just yesterday I run into the same problem:

The parameters I set:
RNGFND_ADDR: 49
RNGFND_TYPE: 14 (TrOneI2C)
RNGFND_MAX: 6000
RNGND_MIN: 50
PRX_TYPE: RangeFinder (4)
AVOID_ENABLE: StopAtFence, UseProximitySensor (Qgc says the flag for those is 3 instead of 7)

I was seeing exactly the same behaviour as @Javier_Beringola however when I test today it seems to be different. Now when I change orientation the distance message seems to oscillate between maximum value and the reading (only for orientations different than down):

Max_val.png1649×872 116 KB

In the above screen the flat line are the readings with orientation set to down, the first spike to RNGFND_MAX_CM occurs when I switch the orientation to anything else. Also the oscillations are always between the reading and RNGFND_MAX_CM:

Max_change.png1649×872 118 KB

(here I changed RNGFND_MAX_CM from 900 to 6000)

Another notes:

  • When I switch from any orientation back to down the oscillations are still there. Only after reboot they disappear.
  • After rebooting in any other orientation (e.g. Forward) the oscillations are still there