Hello,
I have installed 8 TeraRanger Evo 60m sensor on my Hexa copter with one on each side and two installed on the bottom. When I set
PRX_TYPE = 3 to enable the TeraRanger EVO sensor Mission Planner go in to Failsafe mode.
Any idea on how to resolve this?
Mike
Configuration through the Ground Station
- SERIAL4_PROTOCOL = “11” (“Lidar360”) if using Serial4.
- SERIAL4_BAUD = “921” if using Serial4.
- PRX_TYPE = “3” to enable the TeraRanger Tower/ Tower EVO (or 0 to disable).
- PRX_ORIENT = “0” Default.
Setup in Mission Planner
To use the TeraRanger EVO sensor as rangefinder, connect with Mission Planner and open the CONFIG/Full Parameter List menu and set:
-
RNGFNDx_MAX_CM: This parameter sets the maximum distance that the rangefinder is used by the autopilot. -
RNGFNDx_MIN_CM: This parameter set the minimum distance that the rangefinder is used by the autopilot. -
RNGFNDx_ADDR: 48 (for TeraRanger One) or 49 (for EVO series), 0 will disable the rangefinder setup. -
RNGFNDx_TYPE: 14 -
RNGFNDx_ORIENT: 25 (for downward facing). If used for Object Avoidance or ceiling distancing, instead of altitude ranging, mount and chose the appropriate orientatioin.
Values for the rangefinders are shown below:
| EVO60M | EVO40M | EVO15M | EVO3M | EVOMini | EVO600Hz | Terranger One | |
|---|---|---|---|---|---|---|---|
| RNGFNDx_MAX_CM | 6000 | 4000 | 1500 | 300 | 330 | 800 | 1400 |
| RNGFNDx_MIN_CM | 50 | 50 | 50 | 50 | 3 | 75 | 20 |
| RNGFNDx_ADDR | 49 | 49 | 49 | 49 | 49 | 49 | 48 |
| Power Required | 5V/330ma | 5V/330ma | 5V/330ma | 5V/330ma | 5V/50ma | 5V/190ma | 10-20V/120ma |
| Notes | 1 | 1 | 1 | 1 | 1 | 2 |