Hi, i’m beginner. I would like to use the HC-SR04 sonar for object avoidance with Ardurover (v3) and mission planner(1.3.76 and previus).
I followed the wiki instructions for GPIOs mode connection: HC-SR04 Sonar Rangefinder — Rover documentation.
I have set the following parameters related to the rangefinder:
|RNGFND_ADDR|0|
|RNGFND_DEBOUNCE|2|
|RNGFND_FUNCTION|0|
|RNGFND_GNDCLEAR|50|
|RNGFND_MAX_CM|200|
|RNGFND_MIN_CM|20|
|RNGFND_OFFSET|0,001|
|RNGFND_ORIENT|0|
|RNGFND_PIN|54|
|RNGFND_POS_X|0|
|RNGFND_POS_Y|0|
|RNGFND_POS_Z|0|
|RNGFND_PWRRNG|0|
|RNGFND_RMETRIC|0|
|RNGFND_SCALING|3|
|RNGFND_SETTLE|0|
|RNGFND_STOP_PIN|55|
|RNGFND_TRIGGR_CM|50|
|RNGFND_TURN_ANGL|0|
|RNGFND_TURN_TIME|1|
|RNGFND_TYPE|30|
|RNGFND2_ADDR|0|
|RNGFND2_FUNCTION|0|
|RNGFND2_MAX_CM|100|
|RNGFND2_MIN_CM|20|
|RNGFND2_OFFSET|0,001|
|RNGFND2_ORIENT|0|
|RNGFND2_PIN|54|
|RNGFND2_POS_X|0|
|RNGFND2_POS_Y|0|
|RNGFND2_POS_Z|0|
|RNGFND2_RMETRIC|1|
|RNGFND2_SCALING|0,4|
|RNGFND2_SETTLE|0|
|RNGFND2_STOP_PIN|55|
|RNGFND2_TYPE|0|
after, I have got the message: “bad lidar health”.
I have already done tests of replacement of sensor and apm to rule out malfunctions.
Can anyone help me figure out what i am doing wrong?
