Telemetry Port Crisis for Lidar, Raspberry, Telemetry and VTX

ArduRover
1

I’m building a Rover and I have several issues regarding the ports in the CubePilot Set Mini de Cube Orange+.

I need: Telemetry (Connected to Telem1), a connection to a Raspberry (Telem2), but i also want to add an OSD from a FPV camera (which I would need to connect to another Telemetry port), and a 360º Lidar (RPLidar C1, A2 and S1 360 degree lidar — Copter documentation) that also needs to run in a telemetry port.

I wonder if there is a way to actually enable another ports (such as GPS, Can or I2C) to have more ports. Any solution?

Thanks in advance

2

Check out an AP_Periph CAN Node. Matek has a couple of them.

Or use a CAN GPS module which will free up a UART.

3

We use our PI and a mavlink router to extend telemetry to other modules. In some cases it is the primary telemetry link on some platforms

4

Would be possible to use the GPS ports (1 & 2) the Serial TX and RX to have two more uarts and change the protocols into MavLink?

I need to access the UARTs but don’t know how

5

We also do that, yes. Things to note are that only one of the Telem ports (Telem 1 I believe) has RTS/CTS pins, if that is important to you.

We stack ardusimples for RTK over one GPS port and then use the other GPS port for extra Serial Telem