@rmackay9 Does Rover 4.5.7 support the Lightware SF45B? I am installing a Lightware SF45B lidar on a rover running 4.5.7. I am powering the lidar externally with a 5V mauch power cube, connected to an Orange Cube on serial 1.
When I set the relevant parameters to configure the Lidar, I get the message “PRX1_No Data”. However, when I flash the cube to copter firmware 4.5.7, using the same hardware setup, I can receive data from the sensor.
The physical setup and connections between the cube and the lidar are the same, only the firmware is changed. Are there Rover specific firmware settings for the SF45B? I have built multiple copters with the SF45B with good success.
Thanks for the report. I suspect the issue is that the lower update rate on Rover means that the driver doesn’t have enough time to consume all the data provided by the sensor. Could you try increasing the SCHED_LOOP_RATE from 50 (the default for Rover) to 200 to see if that helps?
@rmackay9 Thank you for the input. I adjusted the SCHED_LOOP_RATE parameter to 200 Hz. Unfortunately the behavior is still the same (PRX1_No Data). Flashing copter again confirmed that the sensor, cabling, and power is indeed working.
When I was experimenting with this, with an Arduino between the lidar and the FC with the Mavlink conversion, I also got “PRX1_No Data”. So I added a button on the Arduino so that when turning on the rover and all connections with MP established (and “PRX1_No Data”), pressing the button the Arduino started to send data, and that worked beautifully.
So, somehow, delay SF45B data transmission tll everything stabilized (perhaps some unknown option on MP).
@Webillo@rmackay9 thank you fir the information, that is interesting that implementing a delay on the sf45b seemed to help everything. Back in copter 3.5.7 i had to implement a tine delay relay in order to get the lightware lw20 to connect properly, it sounds like your experience was similar with the sf45b