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LiDAR related issue in a Heli -Banewake TF02

(Nader) #1


I installed a Benewake TF02 to experiment with Train Following. All the parameters are set as recommended in the TF02 manual and all worked well on the bench.

At the test flight all was not well. In Loiter mode if the altitude exceeded the TF02 outdoor range (5 meters in my case) I would get a “Bad LiDAR Health” message and immediately lose GPS and Compass (EFK error) which caused a EKF Fail Safe - AltHold. Had to switch to Acro or Stabilize and land. Tried this several times with exact same result.

It seems like there is a problem when the system has to switch from Range Finder altitude reading to Barometer.

I would appreciate if our experts here could help me with this issues since as is, this LiDAR unit cannot be used.

My heli is a Trex 700/800 Gasser with Pixhawk 2.1- V3.5.7 flying well in all Flight Modes.

All the LiDAR related parameters that I changed are;
Serial2Baud = 115 (Telemetry 2)
Serial2Protocal = 9 (Lidar)
RNGFND_MAX_CM=500 (above 6 meters I get a “bad Lidar Health” msg
RNGFND_TYPE=8 (according to manual)

links to two of the bin files;

(CowboyCode) #2

I’m having a similar issue with TF02. The sensor is properly configured but reporting extremely unreliable ranging despite being used under 10m. Unsure whether the sensor performance is terrible or perhaps the driver?

I’ve tested outdoor, over grass and concrete surfaces. I get nothing but persistent “bad lidar health” messages and unusable ranging.

(Nader) #3


Good to know that it is not only me.
Which platform do you have the TF02 installed in?
Do you also get a EKF error right after “bad lidar health” message and lose GPS and Compass and consequently “EKF Fail Safe”?