Problem of rangefinder in Auto mode

ArduCopter Copter 4.0
30

@rmackay9 , There is still an issue where the altitude RangeFinder does not work in auto mode when OA_TYPE is enabled with BendyRuler.
I have tested it on ac 4.0.5 stable and 4.1.0dev

Is there any other solution?

31

Hi, Sir good morning,

Your problem is resolved or not sir. I am also working with this feature only now. if you are ok with will resolve this issue.

Thanks and regards
Mohan

32

Hi, Sir good afternoon,

follow this link (https://ardupilot.org/copter/docs/terrain-following-manual-modes.html#terrain-following-manual-modes).
set

  1. CHx_OPT-75(surface) (place chX switch at low, and make mission)
    Note: reduce the OA_MARGIN_MAX as possible to your drone.
    Try with different alt like(2,3,4 etc)

Thanks and regards
Mohan

33

Hi
The problem of simultaneous use of altimeter and obstacle detection in AUTO MODE is still unresolved, thank you for your attention.

34

CHx_OPT-75(surface) (place chX switch at low,

Does low mean to activate the input value of the RC channel (on = pwm2000)? Or disable (off = pwm 1000)?
I’ll take it ON and try it. (This is Korea, so the time is night, I will try it tomorrow.)
Thank you

35

The value set by OA_MARGIN_MAX is currently 3. Looks no problem for test.
Thank you

36

USE 3 position switch. (1.switch is low conduction drone Down facing rangefinder is follow and
2.switch is mid: drone is maintain baro meter alt
3. switch is high: drone is taking upward rngfnd values.

make this 0.5 meter.

for me, this worked ok. but altitude does not maintain correctly. But object avoid is work well.

Thanks and regards
Moahn

37

ok sir good night, sweet dreams.

Thanks and regards
Mohan

38

Thank you for your attention.

When we have set pixhawk drone according to the basic guide of ardupilot. In “Loiter Mode”, two Rangefinders (Lidar) are can be used to maintain altitude (altimeter/lidar) and obstacle detection (forward/lidar) and all functions works perfectly.

However, in “auto mode” that activate the BendyRuler obstacle avoidance function, the obstacle avoidance function works, but the altitude maintenance function does not work. (It seems that altitude control through lidar is not performed and only barometer is used)

If altitude maintenance does not work correctly through the lidar, even after trying your advice, there seems to be no improvement from the initial question. Is it correct that I understand?

39

yes, you are right sir, what is the problem with this sir. why alt is not maintained in Auto?

Thank you
Mohan

40

-The CTUN.DSalt becomes NaN in Auto mode. This is a known issue that we hope to resolve in future versions. In case it matters, it’s not really a bug, it’s just that the way AP doesn’t terrain following (aka surface tracking) is different in autonomous modes (like Auto, Guided, RTL) and more manual modes (like Loiter, PosHold, etc)

According to randy macky’s answer @rmackay9

In Automode, CTUN.DSalt (altitude value obtained by rangefinder such as lidar) is not used (NaN), this is a known ISSUE and hopes to be fixed in future versions.

The latest ardupilot at the time this post was written was around 4.0.3
When I tested it, it wasn’t resolved in 4.0.5 stable and 4.1dev firmware. So I posted a question to see if there is another solution.

1 Like
41

Thank your expiations, Sir,

Thank you
Mohan

42

Can you affect the sensitivity of a LiDAR in Terrain missions? I need my unit to try to read through trees. This means to not read every branch (the trees have no leaves at the time) I’m trying to increase the amount of returns until the copter actually starts to adjust.

43

@Jimmy_Oliver,

No, I’m afraid not. Adding a user configurable filter is on the to-do list here but i can’t make any promises when that will happen. It’s not particularly difficult but personally my plate is quite full at the moment.

44

Well then thank you for taking the time to answer. It is appreciated.

45

Has this issue been addressed? I am coming up on another pollination season and wondering if the LiDAR sensitivity was been addressed in AUTO since the new updates? Thank you for your time.

46

Can you point me to the documentation on improved Rangefinder filtering in Auto Mode (e.g. the Mission Planner settings) Thank you.

47

The same issue persists on 4.3.2. In auto mode, the rangefinder (we are using nanoradar NRA15) cannot do tracking in auto mode but still does fine in LOITER mode. Is there any solution to that issue? @rmackay9 @chr89 If need be I can send the log files too.

48

Why are you not using ArduCopter 4.3.5?

49

The issue with terrain following in automode was fixed in 4.4.0dev.
However, 4.4.0 has an issue with yaw control.