Ok, Here what I have:
I’ve connected 2 LIDAR-Lite modules to Pixhawk. One by I2C and another one by PWM. In Adw. param list first range finder is configured as I2C, second as PWM. And they both work. Trigger distance of first range finder works for second one. Turn direction sets only for first sensor, but somehow works reversed for second one. So if rover sees obstacle with left lidar, it turns right and vise versa.
I’m still having issue with turning manually in STEERING mode. Because after activation STEERING mode I can hardly steer, it only goes for a few degrees. And obstacle detection turns wheels normally at max 45 angle.
Manual says: The steering controls the “navigation bearing”, which is what AUTO uses to navigate.
Does that mean, that I don’t actually control rover steering, but set direction?