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Wall simple avoidance and lidars config

Hello guys,

I’m looking for some informations about simple objects avoidance.
I need to fly along a wall and want to use a 360 lidar to keep the drone following the wall safely and with a constant distance. I think that the RPLIDAR A2 would a a good choice.
But as the wall to inspect is often bellow the take off spot (take-off on roof), i should have an eye on the real altitude (under the drone). So i would use a second lidar (downward) to get the distance from ground on the telemetry.

My question is : will the second lidar considered by the Pixhawk as avoidance sensor ? (because i saw on arducopter the avoidance page that Only one proximity sensor source can be enabled, using either a 360 degree lidar or up to 9 rangefinders. While a second proximity sensor appears in the parameters list, it is not currently functional)

I want to be sure that this configuration works, so if someone had already made a similar setup, i would be please to get infos.

Thanks,

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When avoiding obstacles with RP Lidar A2, it was not necessary to set RP Lidar A2 as a rangefinder.
I have used RP Lidar A2 and LeddarOne at the same time. This was achieved according to the following document.
https://ardupilot.org/copter/docs/common-rplidar-a2.html#common-rplidar-a2
https://ardupilot.org/copter/docs/common-simple-object-avoidance.html

P.S.
RPLidar A2 was supplied from BEC because there was not enough power from cube.

Thank you Mickey for the infos.

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