Aerotenna User and Developer Hub

Aerotenna User and Developer Hub

Welcome to the Aerotenna User and Developer Hub. Here you'll find guides, manuals, tutorials, and Frequently Asked Questions to help you get started with using OcPoC and μSensing radars, as well as support and discussions if you get stuck. Welcome!

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Lidar & PX4flow doesn't work

Posted by Alex 8 days ago

Hello

after loading ardupilot on the ocpoc zynq mini, i can not get the data from Px4flow on APMplanner as shown on the ardupilot wiki
then by adding the lidar, I get to see the pX4flow data on APMplanner's Inspector Mavlink which is displayed for 1 second then it goes back to zero (opt_m_x & opt_m_y data, do not display continuously over time, sometimes one of them go to zero, sometimes both, every second,

and if I connect directly to the OcPoc via the cable i2c (6 pins), in a terminal I see the lidar data that appears (Lidar_distance) but still after a moment of operation (30 seconds ~ 40 seconds) the Lidar disconnects and displays a message that I add to the code here

----AP_RangeFinder_PulsedLightLRF.cpp

case PHASE_COLLECT: {
be16_t val;
// read the high and low byte distance registers
if (_dev->read_registers(LL40LS_DISTHIGH_REG | LL40LS_AUTO_INCREMENT, (uint8_t*)&val, sizeof(val))) {
uint16_t _distance_cm = be16toh(val);
// remove momentary spikes
if (abs(_distance_cm - last_distance_cm) < 100) {
state.distance_cm = _distance_cm;
update_status();
}
last_distance_cm = _distance_cm;
hal.console->printf("Lidar_distance =%d , check_reg_counter = %d \n",last_distance_cm, check_reg_counter);
} else {
//set_status(RangeFinder::RangeFinder_NoData);
hal.console->printf("Lidar...... RangeFinder_NoData \n");
}

hard : OcPoc zynq mini
soft: ardupilot 3.6-dev
sensors: Px4flow & Lidar lite V3

I do not know if if because of the insufficient power supply (two sensors are connected to the OcPoc) and the OcPoc is powered via USB

thanks for any help

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