Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

AP_Periph: improved probing of rangefinders #23104

Merged
merged 4 commits into from Mar 6, 2023
Merged

AP_Periph: improved probing of rangefinders #23104

merged 4 commits into from Mar 6, 2023

Conversation

tridge
Copy link
Contributor

@tridge tridge commented Mar 5, 2023 •
edited

This fixes a few issues with peripheral rangefinder init

  • cope with sensors that take a long time to startup (eg. LW20)
  • cope with sensors that are powered on separately to the periph CAN node
  • cope with boards without a uart and only i2c sensors

issue reported here: https://discuss.ardupilot.org/t/ap-periph-not-working-with-lightwarei2c/95913

@tridge
AP_RangeFinder: allow re-init if no sensors found
b91bad5 
needed for AP_Periph with slow startup sensors or sensors that power
on separately to the CAN node
@tridge
AP_Periph: rename CAN_PROBE_CONTINUOUS to AP_PERIPH_PROBE_CONTINUOUS
2a3f89e
@tridge
hwdef: use AP_PERIPH_PROBE_CONTINUOUS for dedicated rangefinders
915ac84 
these are used with sensors that may take a long time to startup and
the delay won't cause any issues as there are no other sensors
supported
@tridge
AP_Periph: cope with peripherals with i2c only rangefinders
e595b47 
if no uart then still check for non-uart sensors
@tridge tridge merged commit a4a52c3 into ArduPilot:master Mar 6, 2023
@patrickpoirier51
Copy link

---- NO READING ----
Testing by connecting LW20 to I2C of Matek with these parameters
BRD_SERIAL_NUM,0
CAN_BAUDRATE,1000000
CAN_NODE,0
DEBUG,0
FLASH_BOOTLOADER,0
FORMAT_VERSION,2
RNGFND_BAUDRATE,115200
RNGFND_MAX_RATE,50
RNGFND_PORT,0
RNGFND1_ADDR,102
RNGFND1_FUNCTION,0
RNGFND1_GNDCLEAR,10
RNGFND1_MAX_CM,700
RNGFND1_MIN_CM,20
RNGFND1_OFFSET,0
RNGFND1_ORIENT,0
RNGFND1_PIN,-1
RNGFND1_POS_X,0
RNGFND1_POS_Y,0
RNGFND1_POS_Z,0
RNGFND1_PWRRNG,0
RNGFND1_RMETRIC,1
RNGFND1_SCALING,3
RNGFND1_STOP_PIN,-1
RNGFND1_TYPE,7

And on Cube Orange (4.3.4)
RNGFND1_ADDR 0
RNGFND1_TYPE 24

When connecting the LW20 directly to Cube Orange I2C with these parameters
RNGFND1_ADDR 102
RNGFND1_TYPE 7
I have correct Distance Reading

@rishabsingh3003
Copy link
Contributor

I have had to send my LW20 back to LightWare because it isn't working at all. Can't test till it comes back repaired from them

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@magicrub magicrub magicrub approved these changes

Assignees
No one assigned
Labels
AP_Periph BUG NeedsTesting
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
5 participants
@tridge @patrickpoirier51 @rishabsingh3003 @magicrub @IamPete1