Setting up Beaglebone Blue with TFMini Serial lidar

@sdeal3 wrote:

Hello all,

I am setting up a Beaglebone Blue with the latest Plane 4.0 and I have been struggling to get the TFmini lidar to work with it.

The details of the setup, I have the lidar connected to UART5 configured from the following setup file

TELEM1="-C /dev/ttyO1"
TELEM2="-A udp:<target IP address>:14550"
GPS="-B /dev/ttyO2"
RANGER="-F /dev/ttyO5"

and I changed the output of the lidar to pix mode. After connecting the lidar to the board, I confirmed that it was working with the command

cat /dev/ttyO5
1.56
1.56
1.57...

The output was in fact showing the time sequence of the distance measurements in meters, confirming that it is working. I then went into mission planner and set the following parameters

RNGFND1_TYPE = 20 # the tfmini serial rngfndr type
SERIAL5_BAUD = 115 # the rngfndr buad rate
SERIAL5_PROTOCOL = 9 # the rngfndr protocol

However, when I check the sonar reading in the Mission Planner status window, it still showed zeros and I was getting a bad Lidar health warning in the horizon display. I then tried setting the other serial port protocols and buad rates to see if I just picked the wrong one, but that didn’t change anything. I also rebooted the board to see if the changes would take effect on the next boot, also didn’t help. I then tried connecting the lidar to a Pixhawk 4 mini, and strangely enough, I got it to work with the Pixhawk, and the sonar reading in the status window of mission planner was displaying the range detected. However, going back to the Beaglebone Blue, still no luck.

Anyone have similar troubles or any ideas on what I am doing wrong?

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