Reading from LIDAR Connected to serial using Pymavlink or other ways

Cube Autopilot
1

I have a Benewake lidar TF03 which is connected to my Telem 2 Orange Cube Here 3,

I read here Benewake TF02 / TF03 lidar/ TF-Luna — Copter documentation it explains how to connect and view the results using Mission Planner.

But question is I am using Mavproxy, MAVSDK and Pymavlink. Just wonder anyway to read the results of the lidar scan using script?

I like to program it to autonomously loiter whenever there is obstacle in front.

2

You may need to read the mavlink messages through pymavlink
https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR
https://mavlink.io/en/messages/common.html#OBSTACLE_DISTANCE

3

Hello,

Are you aware that there is alibrary that does avoidance ?
https://ardupilot.org/dev/docs/code-overview-object-avoidance.html

4

Hi yes but it works only in altihold mode but not in auto mode.

5

There are possibilities to work auto with the advanced avoidance library.
I suggest you look at work from @rishabsingh3003 on that matter.
I think it would be better if you open a thread at discuss.ardupilot.org as it is not directly related to cubepilot.

6

Hi, in Copter 4.1 you can do this via Lua scripting. As far as I have understood, you want to switch from Auto -> Loiter when an obstacle is detected?
I have done a similar script in the past and I think I might be able to find it… let me know if you need it.