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Lidar RPLIDAR A2 setup on Pixhawk cube

(Eduard cabanas Gili) #1

Hi all,

I would like to ask for help in the assembly and setup of my A2 lidar with a pixhawk 2.1
I have wired the following way to telemetry port 2
The parameters:

  • [SERIAL2_PROTOCOL] = “11”
  • [SERIAL2_BAUD]= “115”
  • [PRX_TYPE]= “5”
  • [PRX_ORIENT]= “0”
  • [BRD_SER2_RTSCTS]= “0”
    But in Mission Planner’s proximity viewer there is no information there

I’m not sure if I did something wrong, do I have to arm before? and put in auto mode?
The lidar has power because the rotor turns perfect

Thank’s for your help


(Mike Boland) #2

Swap your Tx and Rx over.
A2 Tx to Pixhawk Rx
A2 Rx to Pixhawk Tx

(rmackay9) #3

You’ve probably already seen it but for other who may read this thread the setup wiki page is here.

(Eduard cabanas Gili) #4

Hi rmackay9

Thank’s for your answer but I followed the wiki and the unit did not work, Does this unit could do object avoidance?


(rmackay9) #5

It certainly should work so I suspect there are one of a couple of potential problems:

  • a power issue. Perhaps the flight controller is not able to provide enough power to the lidar so a separate BEC is required
  • the lidar being used is not exactly the lidar described on the wiki so it uses a different (perhaps unsupported) protocol
  • some other configuration issue on the AP side like baud rate or protocol hasn’t been done exactly as described on the wiki

Rover’s object avoidance is described on this wiki page. An alternative setup using ROS is also described here.