Community
cancel
Showing results for 
Search instead for 
Did you mean: 
FDAlt
New Contributor I
1,808 Views

how to connect and interact with TFmini?

Hello,

I would like to connect a TFmini LIDAR to my intel-aero drone

I have taken some tips from this guide that displays how to connect PX4Flow:

https://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/ Intel Aero Drone - Altitude and Position Hold Using PX4Flow: 11 Steps (with Pictures)

  • I have flashed the FPGA with the file aero-rtf_i2c.jam
  • I have updated the PX4 flight controller to version 1.8.0 (which already contains the driver for TFmini)
  • I have solded the drone to the DF13 connector and connected it to the Telemetry port

After that I have followed the following guide

https://docs.px4.io/en/sensor/tfmini.html https://docs.px4.io/en/sensor/tfmini.html

which tells me to assign a value to the parameter https://docs.px4.io/en/advanced_config/parameter_reference.html# SENS_TFMINI_CFG SENS_TFMINI_CFG.

which ,according to this other page

https://docs.px4.io/en/advanced_config/parameter_reference.html# SENS_TFMINI_CFG https://docs.px4.io/en/advanced_config/parameter_reference.html# SENS_TFMINI_CFG

accepts only some specific values according to the Pixhawk port used to connect it

Since I am on Intel-aero and I have connected the lidar to the Telemetry port, which value should I choose?

I have tried 1, copying the configuration for similar lidar (LeddarONE) which requires 1 as value, 6,101,102,103,104.

The one which seems more effective is 1, which adds new entries into the "MAVLINK inspector" section, which are ATTITUTE,ATTITUDE_QUATERNION,LOCAL_POSITION_NED,ALTITUDE,VIBRATION,ESTIMATOR_STATUS and VIBRATION.

I have changed the values of the following params

https://docs.px4.io/en/advanced_config/parameter_reference.html# EKF2_AID_MASK EKF2_AID_MASK2https://docs.px4.io/en/advanced_config/parameter_reference.html# EKF2_HGT_MODE EKF2_HGT_MODE

2

as stated here : https://docs.px4.io/en/flight_controller/intel_aero.html https://docs.px4.io/en/flight_controller/intel_aero.html

but it seems the lidar does not influences the perception of the drone.

Am I doing something wrong?

Thank you for your help

Francesco

0 Kudos
4 Replies
idata
Community Manager
203 Views

Hi francesco.dalterio,

 

 

Thank you for your interest in the Intel Aero Drone.

 

Could you tell me the output of this command?

 

nsh> tfmini info

 

Can you also tell me the output of nsh> tfmini start ?

 

 

Regards,

 

Alexandra
YLiu58
Beginner
203 Views

Hi Alexandra,

I'm facing the same issue, I'm using the TFmini lidar sensor, I don't know how to let the drone recognize this sensor. I connect the sensor with the telemetry port.

In my case, the output of "nsh> tfmini info " is "nsh: tfmini: command not found".

Can you help me with this issue? I appreciate your help.

Yapan

idata
Community Manager
203 Views

Hi yapan,

You will need to build the latest px4 firmware as it already has the driver included.

 

You can see here (line 15):

 

https://github.com/PX4/Firmware/blob/master/cmake/configs/nuttx_aerofc-v1_default.cmake https://github.com/PX4/Firmware/blob/master/cmake/configs/nuttx_aerofc-v1_default.cmake

Regards,

 

Alexandra
YLiu58
Beginner
203 Views

Thank you Alexandra,

I'm very new to drones and I'm not familiar with Linux System. But, I figured it out with your help.

1. I followed all the instructions here https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-setup 02 Initial Setup · intel-aero/meta-intel-aero Wiki · GitHub and https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation 90 (References) OS user Installation · intel-aero/meta-intel-aero Wiki · GitHub

2. I downloaded the latest PX4 firmware (aerofc-v1_default.px4) through this link: https://github.com/PX4/Firmware/releases Releases · PX4/Firmware · GitHub

3. Update the firmware as it described here https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation# flight-controller 90 (References) OS user Installation · intel-aero/meta-intel-aero Wiki · GitHub

4. Open the QGroundControl software, connect with the drone through common links (I use TCP/IP), then you will find the TFmini in the sensor parameters as the image below shows. Configure the parameters as it described here https://docs.px4.io/en/sensor/rangefinders.html# configuration https://docs.px4.io/en/sensor/rangefinders.html# configuration

Hope this can help anyone new to drones and coding...

Thank you again,

Yapan

Reply