Connecting lidar tf02 to navio 2 UART

[harryhancock]

1. Latest ardupilot version and correct setup from navio2 documentation as the udp to mission planner is working
2. TF02 lidar will not connect via UART port to the mission planner software. Expecting data on the sonarrange and sonar voltage status values
3. Step by step actions:

• setup the parameters as on this page: https://ardupilot.org/copter/docs/common-benewake-tf02-lidar.html
• set the TELEM1 on pi config to channel A and with 115200 baud rate as required by the TF02 as in this page: https://docs.emlid.com/navio2/common/ardupilot/installation-and-running/
• switched the UDP connection to channel C with uses baud of 57600

I get random inputs from TF02 using the screen command to the /dev/ttyAMA0 - UART connector.

Any help as to why not receiving data correctly would be much appreciated

[liudmila.slepova]

Hi @harryhancock,

Welcome to the community forum!

@harryhancock

• set the TELEM1 on pi config to channel A and with 115200 baud rate as required by the TF02 as in this page: https://docs.emlid.com/navio2/common/ardupilot/installation-and-running/
• switched the UDP connection to channel C with uses baud of 57600

Could you please share the content of the launch file here? It might be helpful for me to take a look at the configuration parameters.

[mlebret (Marc Lebret)]

@harryhancock

Any help as to why not receiving data correctly would be much appreciated

I will share my configuration:

TELEM1 is wifi UDP link is serial 0 at 115200
TELEM2 is serial 1 telemetry on USB0 -C /dev/ttyUSB0 is serial 1 at 57600
TELEM3 is Range finder (TF Mini) on UART

-F /dev/ttyAMA0 is serial 5 of Navio2

I set serial 5 to 115200 and for range finder (9)

My range finder is a TF Mini serial, set to 20 in range finder settings. TF02 is 19.

The display on the bench

[harryhancock]

Thanks for your help!

I originally had the udp connection working but now it’s not connecting.

I’ve got the same config as you suggested and no firewall. Any suggestions?

[mlebret (Marc Lebret)]

@harryhancock

I originally had the udp connection working but now it’s not connecting.

Udp problem, No connection today… Maybe a W10 security update, I also had the problem today.

I disabled the firewall and rebooted PC and Navio after checking classic telemetry was fine. Udp is working now.

[harryhancock]

Hi Liudmila,

I have attached the launch file here:

[harryhancock]

Hi Marc,

I have the same settings as you in the serial 5 option and i changed the rangefinder 1 to be 19 for the tf02 in the full params list on mission planner.

As the uart connection is still not working and I’ve tried to see incoming data using the command below but getting gibberish

sudo screen /dev/ttyAMA0 115200

Let me know your thoughts

[mlebret (Marc Lebret)]

@harryhancock

As the uart connection is still not working and I’ve tried to see incoming data using the command below but getting gibberish

sudo screen /dev/ttyAMA0 115200

Hello,

Same result with your command. Displayed data is not “clear”.

[liudmila.slepova]

Hi @harryhancock,

Thanks for your patience.

As we don’t have the rangefinder at our disposal, we haven’t had a chance to test the setup ourselves. Let’s check whether it’s possible to troubleshoot this remotely.

At this point, as I understand, the data is being output from the rangefinder and received by Navio2. However, the data is not accepted by Mission Planner. It’d be helpful if you answered the following questions:

• is it possible to connect TF02 to the other port?
• have you tried setting the different baud rate?
• have you tried tweaking some of the parameters and reloading Mission Planner to see if it helps?
• have you tried checking the rangefinder with some other device? Does it work with is as expected?