Rplidar and single lidar

hassani · September 1, 2020, 1:29pm

Hi, Is it possible to connect an rplidar sensor (360°) and a lidar sensor (single direction) to the cube at the same time? (Round and down the vehicle)

amilcarlucas · September 1, 2020, 5:27pm

yes, it is, you can connect up-to 10 lidar sensors in different directions. (rotating or not)

hassani · September 2, 2020, 7:20am

Thanks dear amilcarlucas, but i say due to These two pages.

i want to use rplidar a2 360 (horizontally) and tfmini plus for altitude.
Can you send the docs link?

amilcarlucas · September 2, 2020, 8:40am

You have the docs already. Did you test this? what does not work? what are the errror messages?

rishabsingh3003 · September 2, 2020, 9:04am

Hi @hassani… If you connect the rplidar and change the correct parameters, you can use it for obstacle avoidance. The downward facing range finder can be simultaneously used for terrain following.

hassani · September 2, 2020, 11:12am

Thanks, i have two questions.
1.Can i use downward facing rangefinder for Surface tracking like terrain following?
Link : https://ardupilot.org/copter/docs/terrain-following-manual-modes.html?highlight=surface

And can i use rplidar for path planning Instead obstacle avoidance?
Link : https://ardupilot.org/copter/docs/common-oa-bendyruler.html?highlight=path%20planning

hassani · September 2, 2020, 11:21am

Thank you too amilcarlucas,
I haven’t tested yet, i wanted to be sure.

rishabsingh3003 · September 3, 2020, 8:39pm

Yes to both of your questions.
Obstacle avoidance is divided into two parts:
A. Simple Avoidance - done in semi-autonomous modes like Loiter
B. Path Planning - done in fully autonomous modes like guided, auto mode

If you have the rplidar set up correctly, you can use it for both A and B.
For more details head on here: https://ardupilot.org/copter/docs/common-object-avoidance-landing-page.html

hassani · September 30, 2020, 11:05am

Hi dears,
i want to adjust Sample Frequency of rplidar, for exampale 4k or 8k. How can i set it?
Does the sample frequency of rplidar change as the pwm changes? (Pwm on motoctl pin)
Thanks

amilcarlucas · September 30, 2020, 11:23am

No the PWM does not change the sampling rate. Check the RPlidar user manual to configure the sampling rate.

hassani · September 30, 2020, 11:46am

Thanks,
Should I use SDK? If I adjust it in sdk, will it be saved?
And last question dear Amilcar, default value of sample rate while motoctl is high (connected to vcc) , How much is?

1111125 · October 18, 2020, 8:17am

HI,Do you have debugging documentation?

1111125 · October 18, 2020, 8:19am

I follow the MP on the official website to show bad lidar healthy。