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TF-Luna can directly be connected with the serial port of Pixhawk. TF-Luna can be used in flight device

for the purpose of altitude holding or obstacle avoidance. This document is suitable to Pixhawk adopts ArduCopter V4.0.0 or higher firmware.

Example for connecting Pixhawk:

Figure 1 Schematic Diagram of Connecting TF-Luna with TELEM 2 Interface (Serial Port 2) of Pixhawk

a)MissionPlanner configuration description of TF-Luna for the purpose of altitude hold

Connect the flight control board to MP.Attention:the installation height should be bigger than non-detection zone.Select [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20    [It could be changed according to real demands and should be bigger LiDAR than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200      [It could be changed according to real demands but should be smaller than

effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [expressed in cm, depending upon mounting height of the module and

should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=25    [face down]

PRX_TYPE=0

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the altitude value from LiDAR sensor: double click the area of the Mission Planner, see the following picture:

Select option sonarrange,see following picture:

The altitude distance from the LiDAR will be displayed in Sonar Range(meters),see the following picture:

b)  MissionPlannerconfiguration description of TF-Luna for the purpose of Obstacle Avoidance

It’s only recommended to be used in Loiter mode, the detail setting is as followings:

Connect the flight control board to MP. Attention:distance between UAV margin and LiDAR should be bigger than LiDAR non-detection zone.  Select  [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

AVOID_MARGIN=3 [Unit: m, set obstacle avoidance distance as required]

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20      [It could be changed according to real demands and should be bigger LiDAR

than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200    [It could be changed according to real demands but should be smaller than effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [Unit: cm, depending upon mounting height of the module and should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=0      [It depends on the LiDAR’s real installation direction,0~7 is supported up to

now,see detail in MP]

PRX_TYPE=4        [RangeFinder should be selected for proximity sensor in obstacle avoidance mode]

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the target distance from the LiDAR:(distance from LiDAR in obstacle avoidance can’t be displayed in sonarrange option )press Ctrl+F button in keyboard,the following window will pop out:

Click button Proximity,the following window will appear: 

The number in green color means the distance from LiDAR in obstcle avoidance mode  (the number only refresh when this window open,close,zoom in or zoom out,it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner version under v1.3.48,the problem could be solved by updating Mission Planner)

    Attach:If TELEM 2 port has been used ,SERIAL4/5 interface could be used,the other setting are same

Figure 2 Schematic Diagram of Connecting TF-Luna with SERIAL4/5 Interface (Serial Port 4/5) of Pixhawk

Configuration Descriptions of Mission Planner

Connect  flight  control  board  to  MP,  Select  [Full  Parameter  List]  in  the  left  from  the  below  bar [CONFIG/TUNING] . Find and modify following parameters:

SERIAL4_PROTOCOL = 9 (LiDAR)

SERIAL4_BAUD = 115

Upon setting of these parameters, the other parameters should be same as Mission Planner configuration description of TF-Luna for the purpose of Obstacle Avoidance or Altitude Holding,then click [Write Params] on the right of the software to finish.

TF-Luna can directly be connected with the serial port of Pixhawk. TF-Luna can be used in flight device

for the purpose of altitude holding or obstacle avoidance. This document is suitable to Pixhawk adopts ArduCopter V4.0.0 or higher firmware.

Example for connecting Pixhawk:

Figure 1 Schematic Diagram of Connecting TF-Luna with TELEM 2 Interface (Serial Port 2) of Pixhawk

a)MissionPlanner configuration description of TF-Luna for the purpose of altitude hold

Connect the flight control board to MP.Attention:the installation height should be bigger than non-detection zone.Select [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20    [It could be changed according to real demands and should be bigger LiDAR than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200      [It could be changed according to real demands but should be smaller than

effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [expressed in cm, depending upon mounting height of the module and

should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=25    [face down]

PRX_TYPE=0

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the altitude value from LiDAR sensor: double click the area of the Mission Planner, see the following picture:

Select option sonarrange,see following picture:

The altitude distance from the LiDAR will be displayed in Sonar Range(meters),see the following picture:

b)  MissionPlannerconfiguration description of TF-Luna for the purpose of Obstacle Avoidance

It’s only recommended to be used in Loiter mode, the detail setting is as followings:

Connect the flight control board to MP. Attention:distance between UAV margin and LiDAR should be bigger than LiDAR non-detection zone.  Select  [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

AVOID_MARGIN=3 [Unit: m, set obstacle avoidance distance as required]

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20      [It could be changed according to real demands and should be bigger LiDAR

than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200    [It could be changed according to real demands but should be smaller than effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [Unit: cm, depending upon mounting height of the module and should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=0      [It depends on the LiDAR’s real installation direction,0~7 is supported up to

now,see detail in MP]

PRX_TYPE=4        [RangeFinder should be selected for proximity sensor in obstacle avoidance mode]

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the target distance from the LiDAR:(distance from LiDAR in obstacle avoidance can’t be displayed in sonarrange option )press Ctrl+F button in keyboard,the following window will pop out:

Click button Proximity,the following window will appear: 

The number in green color means the distance from LiDAR in obstcle avoidance mode  (the number only refresh when this window open,close,zoom in or zoom out,it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner version under v1.3.48,the problem could be solved by updating Mission Planner)

Attach:If TELEM 2 port has been used ,SERIAL4/5 interface could be used,the other setting are same

Figure 2 Schematic Diagram of Connecting TF-Luna with SERIAL4/5 Interface (Serial Port 4/5) of Pixhawk

Configuration Descriptions of Mission Planner

Connect  flight  control  board  to  MP,  Select  [Full  Parameter  List]  in  the  left  from  the  below  bar [CONFIG/TUNING] . Find and modify following parameters:

SERIAL4_PROTOCOL = 9 (LiDAR)

SERIAL4_BAUD = 115

Upon setting of these parameters, the other parameters should be same as Mission Planner configuration description of TF-Luna for the purpose of Obstacle Avoidance or Altitude Holding,then click [Write Params] on the right of the software to finish.

Note: This document is applicable to Cube Orange and Cube Black flight controllers. The IIC interface available that can be used to connect multiple TF-Lunas is the same on both flight controllers. TF-Luna can be used with PixHawk Cube for the purpose of obstacle avoidance and Altitude Hold. But because it’s a short range sensor so in most cases it is used for obstacle avoidance.

1. TF-Luna Settings:

Note: If there are any spikes while using the LiDAR as obstacle avoidance sensor then it is advised to change the frame rate to 250Hz, see the command details having command ID as 0x03 in the manual and for the sake of convenience configuring other parameters (like setting frame-rate, changing address etc.) in UART mode is recommended if you don’t have IIC-USB converter. A simple UART-USB adapter or board should work.

At the time of writing this document latest firmware was 3.3.0. For firmware upgrade please contact our technical support.

The default communication of TF-Luna is UART. LiDAR comes with a single cable. In order to use IIC the cable needs a little modification, details are mentioned in the coming paragraph. Please see TF-Luna IIC communication pin details as below:

If we look at the pin configuration of TF-Luna, IIC can be set by grounding pin-5 in addition to the other four pins. For this purpose a customized cable is needed because in IIC mode we need to connect both pin-4 and pin-5 to the ground.

The modified cable is shown below. I have connected green wire (pin-4) and blue wire (pin-5) to single pin which will go to the GND pin of the source. Leave pin-6 connected. Please ignore the color standard in this case as black wire represents RXD/SDA while yellow wires represents TXD/SCL, just follow the pin numbering according to the user-manual.   

TF-Luna, TFmini-S, TFmini-Plus and TF02-Pro can be interfaced with IIC port of PixHak Cube Orange flight controller. Their settings are almost same. We take two TF-Luna LiDARs as example and set the addresses 0x08 and 0x09 separately.

2. PixHawk Cube Connection:

We take PixHawk Cube Orange flight controller as an example:

 Figure 1: Schematic Diagram of Connecting TF-Luna to I2C Interface of PixHawk Cube

Note：

1. Default cable sequence of TF-Luna and PixHawk Cube are different, please change it accordingly (SDA and SCL wires need to be interchanged). Look at the pinout of controller, pin configurations are:

1. IIC connector should be purchased by user
2. If TF-Luna faces down, please take care the distance between lens and ground, it should be larger than TF-Luna’s blind zone (20cm)
3. If more TF-Lunas need to be connected (10 LiDARs are supported), the method is same.
4. Power source should meet the product manual demands:5V±0.5V, larger than 150mA (peak current)*number of TF-Luna
5. Parameters settings:

Select [CONFIG/TUNING] and then click on [Full Parameter List] in the left from the below bar. Find and modify the following parameters.

Common settings:

AVOID_ENABLE= 2 [if 3 = UseFence and UseProximitySensor doesn’t work in IIC then choose 2 = UseProximitySensor]

AVOID_MARGIN=4

PRX_TYPE=4

Settings for first TF-Luna:

RNGFND1_ADDR=08 [Address of #1 TF-Luna in decimal]

RNGFND1_GNDCLEAR=25 [Unit: cm, depending upon mounting height of the module and should be larger LiDAR than non-detection zone]

RNGFND1_MAX_CM=400 [It could be changed according to real demands but should be smaller than
effective measure range of LiDAR, unit is cm] 

RNGFND1_MIN_CM=30 [It could be changed according to real demands and should be larger than
LiDAR non-detection zone, unit is cm] 

RNGFND1_ORIENT=0 [#1 TF-Luna real orientation]

RNGFND1_TYPE = 25 [TF-Luna IIC same as TFmini-Plus IIC]

Settings for second TF-Luna:

RNGFND2_ADDR=09 [Address of #2 TF-Luna in decimal]

RNGFND2_GNDCLEAR=25

RNGFND2_MAX_CM=400

RNGFND2_MIN_CM=30

RNGFND2_ORIENT= 6 [#2 TF-Luna real orientation]

RNGFND2_TYPE=25 [TF-Luna IIC same as TFmini-Plus IIC]

Upon setting of these parameters, click [Write Params] on the right of the software to finish the process. After writing the parameters you need to power off the controller and then turn it on to apply the setting changes. If the error message “Bad LiDAR Health” or “Bad Proximity” appears, please check if the connection is correct and power supply is normal. How to see the target distance from the LiDAR: press Ctrl+F button in keyboard, the following window will pop out:

And click button Proximity, the following window will appear:

The number in green color means the distance from LiDAR in obstacle avoidance mode（the number only refresh when this window opens, closes, zooms in or zooms out, it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner. The mission planner version at the time of writing this tutorial was v1.3.76.