> For the complete documentation index, see [llms.txt](https://spaceandtech-engineerings.gitbook.io/space-and-tech-engineerings-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://spaceandtech-engineerings.gitbook.io/space-and-tech-engineerings-docs/flight-controller/aazmuth/sensor-integration-and-peripheral-hardware-connection/lidar-sensor.md).

# Lidar Sensor

#### Mission Planner configuration description of Benewake TF-Luna for the purpose of altitude hold

{% hint style="danger" %} <mark style="color:red;">**Attention:**</mark> <mark style="color:$primary;">**T**</mark><mark style="color:$primary;">**he installation height should be bigger than non-detection zone.**</mark>
{% endhint %}

* Connect the Aazmuth to Mission Planner.
* Select \[Full Parameter List] in the left from the below bar- \[CONFIG/TUNING]

<figure><img src="/files/N3Px1J3k7BmXKwyPognI" alt=""><figcaption></figcaption></figure>

* &#x20;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]

<figure><img src="/files/Uu0kZAI5f0Ek8aF3nkFK" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
**Note: If SerialPort2 is engaged with other function you can use SerialPort4 make sure whenever you change the serial port you also write all the necessary BITMASK Carefully.**
{% endhint %}

* **RNGFND1\_TYPE** = 20 \[Same option with TFmini]

{% hint style="info" %}
**Note: Once you select the** <mark style="color:orange;">RNGFND1\_TYPE = 20</mark> <mark style="color:$primary;">**then click on write params after which the full configuration list will appear for setting up the LIDAR.**</mark>
{% endhint %}

* **RNGFND\_MIN\_CM** = 20/0.2\[It could be changed according to real demands and should be bigger LiDAR than non-detection zone, **unit is cm/unit is m**]&#x20;
* **RNGFND1\_MAX\_CM** = 200/2 \[It could be changed according to real demands but should be smaller than effective measure range of LiDAR, **unit is cm/unit is m**]
* **RNGFND1\_GNDCLEAR** = 15/0.15 \[**expressed in cm/expressed in m**, depending upon mounting height of the module and
  &#x20;should be bigger LiDAR than non-detection zone]
* **RNGFND1\_ORIENT** =25 \[face down]

<figure><img src="/files/HfQkIWhDQp7y8hskWQJJ" alt=""><figcaption></figcaption></figure>

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

{% hint style="warning" %}
If the error message <mark style="color:red;">**“Bad Lidar Health”**</mark> appears, please check if the connection is correct and the power
\
supply is normal, then restart Aazmuth.
{% endhint %}

**How to see the altitude value from LiDAR sensor:**&#x20;

**Go to Data tab under that tab below click the Quick Panel and then double click to any one of the values present in the Quick Tab and then select option Sonnarrange**

<figure><img src="/files/9gBrPLdeAc7sbQAkUqjm" alt=""><figcaption></figcaption></figure>

**Once Selected The altitude distance from the LiDAR will be displayed in Sonar Range(meters)**

#### Mission Planner configuration description of  Benewake TF-Luna for the purpose of Obstacle Avoidance

{% hint style="danger" %} <mark style="color:$danger;">**Warning: To be used in Loiter mode Only**</mark>
{% endhint %}

* Connect the Aazmuth board to MissionPlanner.&#x20;

{% hint style="warning" %} <mark style="color:red;">**Attention:**</mark> <mark style="color:$primary;">**Distance between UAV margin and LiDAR should be
bigger than LiDAR non-detection zone.**</mark>
{% endhint %}

* Select \[Full Parameter List] in the left from the below bar-
  \[CONFIG/TUNING]
* Find and modify the following parameters:

<figure><img src="/files/N3Px1J3k7BmXKwyPognI" alt=""><figcaption></figcaption></figure>

* **SERIAL2\_PROTOCOL** = 9 \[Rangefinder option]
* **SERIAL2\_BAUD** = 115 \[Choose the current LiDAR baud rate, if haven’t been changed, the default baud
  &#x20;rate 115200 should be selected, that is 115]

<figure><img src="/files/Uu0kZAI5f0Ek8aF3nkFK" alt=""><figcaption></figcaption></figure>

* **RNGFND1\_TYPE** = 20 \[Same option with TFmini]

{% hint style="info" %}
**Note: Once you select the** <mark style="color:orange;">RNGFND1\_TYPE = 20</mark> <mark style="color:$primary;">**then click on write params after which the full configuration list will appear for setting up the LIDAR.**</mark>
{% endhint %}

* **RNGFND\_MIN\_CM** = 20/0.2\[It could be changed according to real demands and should be bigger LiDAR than non-detection zone, **unit is cm/unit is m**]&#x20;
* **RNGFND1\_MAX\_CM** = 200/2 \[It could be changed according to real demands but should be smaller than effective measure range of LiDAR, **unit is cm/unit is m**]
* **RNGFND1\_GNDCLEAR** = 15/0.15 \[**expressed in cm/expressed in m**, depending upon mounting height of the module and
  &#x20;should be bigger LiDAR than non-detection zone]
* **RNGFND1\_ORIENT**=0 \[forward]

<figure><img src="/files/3roVuPbANoNlcyxcDp47" alt=""><figcaption></figcaption></figure>

* Then select Avoid from Full parameter list and Set AVOID\_MARGIN=3 \[Unit: m, set obstacle avoidance distance as required]

<figure><img src="/files/kMHVTOzLhGmEduVfG1bU" alt=""><figcaption></figcaption></figure>

* PRX1\_TYPE=4 \[Rangefinder should be selected for proximity sensor in obstacle avoidance mode]

<figure><img src="/files/FKRCQn2jtebeHCBOLETH" alt=""><figcaption></figcaption></figure>

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

{% hint style="warning" %}
If the error message <mark style="color:red;">**“Bad Lidar Health”**</mark> appears, please check if the connection is correct and the power
\
supply is normal, then restart Aazmuth.
{% endhint %}

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:

<figure><img src="/files/39V2zNE5U6rGEYTun0Ga" alt=""><figcaption></figcaption></figure>

Click button Proximity,the following window will appear

<figure><img src="/files/5FNd55CIjcAOhubodVpi" alt=""><figcaption></figcaption></figure>


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