HereFlow - Bad Lidar Health

HereFlow
#1

I’ve been trying to do the legwork on setting up my HereFlow before moving on to adding a more capable lidar sensor.

The docs all advise against using the lidar on the HereFlow - but I’d like to establish that if it at least works within the 200cm range as advertised.

Doing a hover test over a hard surface, ArduCopter reports “Bad Lidar Health” - as seen on the Yaapu MavLink messages:

Bad Lidar Health Messages
Bad Lidar Health Messages3619×2467 2.53 MB

Initially I thought this might have been caused by some restrictions from the 3-D printed case I was using - so I removed it from that case and mounted unrestricted to my copter per this photo:

HereFlow mounting
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The unrestricted mounting did not improve the Bad Lidar Health messages.

Graphing the distance reported for the lidar using EKF5.mg it shows that distance data is being reported - as expected from my test flights.

XKF5.mg
XKF5.mg1920×1080 126 KB

The BIN file from this test flight is available here:

It would be nice to know if the Bad Lidar Health is a bug in ArduCopter 4.1.1, or if the HereFlow is really mal-functioning. I don’t have a second one to swap out to compare. Or maybe there is an error in my configuration.

I’d appreciate any thoughts or comments. Thanks You!

#2

If you see the lidar distance changes corresponds to the movement, it show be fine.

Can you see the sonarrange in Mission Planner > status changes when you raise or put down the Hereflow?

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#3

Yes, the Mission Planner’s Sonorrange on the Status tab reflected good information on the ground. But getting error messages in flight are a concern. My Lightware LW20/C generates no such messages.

#4

Hey how did you setup the yaapu telemetry

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#5

I just followed the Yaapu docs.

#6

So can you tell me how do i get the yaapu telemetry using Frsjy X8R and pixhawk cube orange and Jumper T16 pro

#7

I can’t offer you detailed instructions - but you can find it in various documentation sources.

In general - it works like this: You configure a serial port on your flight controller for FRSKY SMARTPORT PASSTHROUGH. It’s one the ArduPilot options. Then, you use a “converter cable” to connect the serial port (Telem 1 or telem 2) on the flight controller to the SmartPort connector on your receiver. Then you load the Yaapu software onto your transmitter - which only requires copying several directories you can download over to the SD Card on your transmitter.

I’m sorry I can’t be more detailed or specific - but the process isn’t too difficult - but requires a bit of research. One benefit of that research is it will help you learn more about your equipment.

Good luck!

#8

Can you try to reflash the firmware on Hereflow?

#9

I could try. Instructions?

#10

You can connect it with SLCAN, like Here3
https://docs.cubepilot.org/user-guides/here-3/here-3-manual#1.here3-firmware-update

The CAN process are same.

#11

Fair enough. All I need now is the firmware.

#12

You should be able to get that from internet by the “Update” option

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1 Like
#13

is it possible to update the firmware using uavcan-gui-tool in non widows os?

#14

yes