Try update your firmware…for tf luna and tf mini s of im using can bus protocol…
I tried also to update (serial communication) the fw but I get bootloader error (see pictures above this thread). Thanks
ok… i will do some test with my tf luna., do you mind tell me how you set it,… i need replicate your settings
Thanks Dave, my settings are simply. Pixhawk 1 arducopter 4.0.5, connect i2c vcc SDA scl gnd pin 5 to gnd, but lidar not detect. Same configuration but serial communication vcc TX RX gnd, works well and value sonar range in mission planner is correct.
TF luna works also with benewake GUI in serial.
TF luna whit unknown fw version and updated with benewake tools for upgrade fw not work (bootloader error 256)
Hello Alberto,
You will not able to observe the response of command because the GUI has no feedback window. 
You need to use Serial Port Utility. I attach the latest firmware for you 3.0.9. Please download it from the following link:
If you are unable to upgrade the firmware. Try the following method:
1- Connect the converter to PC and open the upgrade tool.
2-Choose the serial port number and click ‘CONNECT’. Then open the bin file
3- Connect the LiDAR to the converter. Note: connect only the GND, RX and TX and leave the VCC unconnected at this stage
4- Click ‘DOWNLOAD’ on the panel of the upgrade tool and connect the VCC of the LiDAR to the converter within 10s.
When it is done, please don’t forget to power off the LiDAR after upgrading firmware.
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Well done Ibrahim!!! New FW works well in I2C! Upgrade firmware with connect Vcc on the fly!
Many many thanks!
Happy to hear that. Good luck, and I will be waiting for you to share the flight videos with me.
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Take care using all the rangefinder on direct sunlight coz too much light will saturate the reading of the sensors.
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Hi all,
unfortunately it didn’t perform any better than the VL53L1x. In low light it works well, in direct sunlight the behavior was not good, making the quad unstable and I also had to land in an emergency because I didn’t have good control. On the Yappu telemetry the reading seemed correct. Also, I have mounted TF luna on a piece of copper PCB but the GPS doesn’t work well (didn’t see any satellite in over 10 minutes of flight).
I also used the auxiliary function to switch off the lidar, but it doesn’t seem to work.
CH13 OPT 10
https://ardupilot.org/copter/docs/common-auxiliary-functions.html
I attach the flight log if anyone has any suggestions, thanks
https://drive.google.com/file/d/1WTaUe8nHfsY8835HbvFl-bqd7JW1axjd/view?usp=sharing
Good day, as suggested never use a rangefinder in direct sunlight coz sensor can saturate.
Usually better power all extra peri periph with an ubec.
About gps module, try shield it with an EMI tape coz if you attach it directly to the frame it can suffer metal interferences due the frame
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It looks to me like the module is working pretty well. It clearly tracks baro altitude. When a module saturates, it reports nonsensical values, typically 0 or max altitude. You see a lot of flat lines when that happens. Your screenshot looks fine as far as the rangefinder goes.
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When the rangefinder disable function is activated it will still read distance it just won’t be used for elevation. The data is still available for Flow and perhaps Landing but not sure about that.
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Hi, I placed the TF on a copper PCB (see photo in the thread) but it seems to be not enough. Can it be useful to connect it to GND? Thanks
Yes the TF luna sensor seems to work fine, however I have had abnormal behavior with unexpected roll. I am attaching a screenshot of the log where we see this dangerous behavior. Without the TF luna connected the behavior is perfectly normal. Could it be an arducopter code problem? Yesterday I also tried indoor and in the loiter I had a similar unexpected behavior but on the pitch (with consequent crash). In all my tests the optical sensor is also connected.
yes the lidar reading remains (also visible on the Yappu telemetry), but even excluding the lidar with the switch the behavior appears anomalous, exactly as if the switch had no effect. The only way to exclude the lidar is to insert RNGFND1 = 0 in the param list
Good day,
i don’t understand connect the sensor to the GND.
GND in electronic it’s the negative mass. while the copper its a layer of a printed circuit board.
As previously said, you can use it as altitude sensor or as landing sensor but not as an obstacle avoidance due the limitations of the range.
Hi, I would like to connect the copper part of the PCB for EMI shielding to GND. Obviously the TF is already electrically connected to GND. I am using TF LUNA as altitude sensor (see posted log graphs) together with optical sensor, not for obstacle avoidance .
You are making a little bit of confusion.
The tf mini pcb is already GND coz during the design of the pcb they apply through vias a ground plane.
If you want use EMI taper for shield you don’t need create a GND also bcoz tf luna its not an RF module
by PCB I only mean the copper vetronite rectangle (for EMI screen) that I used only as a support for the TF luna not the PCB of the TF Luna.