Maximum number of Lidar for Object Avoidance

Posted by xemone on May 10, 2019 at 7:33am

Hi all,

I'm setting up my PX4-based quad with ST VL53L0X Lidar sensors (I currently have three) and I noticed that line #24 of the current Rangefinder library (here: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RangeFinder/RangeFinder.h#L24) has the maximum number of sensors set to 10 (ten). Am I understanding this correctly? And has anyone ever tried to setup this many rangefinders (or anything close) with any measure of success?

Any input/advice will be greatly appreciated.

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Replies

  • Mateusz Sadowski May 15, 2019 at 3:00am

    It's been a while since I've been working on Object Avoidance with ArduCopter. I only worked with TeraRanger Tower (https://github.com/ArduPilot/ardupilot/blob/fb544cab78efe05e74b368c...).

    Looking at the update_sector_data function you can see that the angle is specified, since the same fields can be defined in your sensor setup (as far as I remember) then your setup could work. If not you should be able to patch it or in worst case create a driver similar to the TeraRanger one.

    Another thing to note is the potential cross-talk between sensors, try to check it as early as possible to avoid being disappointed!

    ArduPilot/ardupilot
    ArduPlane, ArduCopter, ArduRover source. Contribute to ArduPilot/ardupilot development by creating an account on GitHub.
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