Hello,
I would love to have some help; I’m trying to connect two FTmini-i’s on the CAN2 port via a Can splitter that was delivered with the cube orange + or the Here 4
my setup; Cube orange+ connected to the Here 4 trough the Can 1, that’s working fine and the first flights were good.
But now I’m starting the stage 2 of the build with connecting two FTmini-i’s one for avoidance and one for ground following,
I followed this what I found on ardupilot; AVOID_ENABLE= 3 [if 3 = UseFence and UseProximitySensor doesn’t work in IIC then choose 2 = UseProximitySensor ]
AVOID_MARGIN=4
PRX_TYPE=4
Settings for CAN -1 port :
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 11
CAN_P1_BITRATE = [Baud-rate: For TFmini-i and TF02-i it is 250000, and for TF03 the default baud-rate needs to be set to 1000000.]
In case of pixhawk1 we only have one CAN interface but if there are more than one interfaces then configure the parameters for CAN-2 interface.
Settings for CAN -2 port :
CAN_P2_DRIVER = 1
CAN_D2_PROTOCOL = 11
CAN_P2_BITRATE = [Baud-rate: For TFmini-i and TF02-i it is 250000, and for TF03 the default baud-rate needs to be set to 1000000.]
Settings for first TFmini - i or TF 02- i :
RNGFND1_RECV_ID = 3 [CAN Transmit ID of #1 TFmini-i or TF02-i in decimal]
RNGFND1_GNDCLEAR=15 [Unit: cm, depending upon mounting height of the module and should be larger LiDAR than non-detection zone. This parameter is required to be configured for altitude hold, it is the installation height of LiDAR from ground.]
RNGFND1_MAX_CM = 400 [It could be changed according to real demands but should be smaller than effective measure range of LiDAR, unit is cm]
RNGFND1_MIN_CM=30 [It could be changed according to real demands and should be larger than LiDAR non-detection zone, unit is cm]
RNGFND1_ORIENT=0 [#1 TFmini-i real orientation]
RNGFND1_TYPE = 34 [TFmini-i CAN same as TF02-i and TF03-CAN]
Settings for second TFmini - i or TF 02- i :
RNGFND2_RECV_ID = 4 [CAN Transmit ID of #2 TFmini-i or TF02-i in decimal]
RNGFND2_MAX_CM=400
RNGFND2_MIN_CM=30
RNGFND2_ORIENT = 6 [#2 TFmini-i real orientation]
RNGFND2_TYPE = 34 [TFmini-i CAN same as TF02-i and TF03-CAN]
but everything in the sonar/rangefinder/PRX are staying 0…
What I’m overlooking here?
Thanks for all help,
Michaël