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TeraBee TeraRanger Evo Instruction Manual

Connection to pixhawk autopilots
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Instruction Manual for:
TeraRanger Evo
Connection to Pixhawk
Autopilots
Published March 2018

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Summary of Contents for TeraBee TeraRanger Evo

  • Page 1 Instruction Manual for: TeraRanger Evo Connection to Pixhawk Autopilots Published March 2018...

  • Page 2: Table Of Contents

    TeraRanger Evo sensor use. 2 Compatibility table At the time of writing, to make the TeraRanger Evo sensor work you must use the developer build version of Arducopter or a PX4 version higher than v.1.7.0. QGroundControl makes it easy to flash the required firmware through the advanced settings.

  • Page 3: Teraranger Evo Wiring Connection - Pixhawk

    3 Wiring Connection to Pixhawk 3.1 TeraRanger Evo wiring connection – Pixhawk 2.1 For brevity we will refer to TeraRanger Evo as TR-Evo. To connect a TeraRanger Evo sensor module to Pixhawk please make sure you have a ​ T eraRanger Evo​ ​...
  • Page 4 To connect the sensor to the Pixhawk, please use the open-ended cable and make your connection as shown below: Pixhawk I2C connector ref is : JST-GH 4pins Evo I2C backboard pins Pixhawk 2.1 I2C port pins Color 1 Tx...
  • Page 5 2 Rx 3 GND 4 SDA 3 SDA Blue 5 SCL 2 SCL Green 7 VCC 1 VCC Orange 8 GND 4 GND Black Then connect the cable to the Pixhawk I2C port:...

  • Page 6: Teraranger Evo Wiring Connection - Pixhawk

    3.2 TeraRanger Evo wiring connection – Pixhawk 1 For brevity we will refer to TeraRanger Evo as TR-Evo. To connect a TeraRanger Evo sensor module to Pixhawk please make sure you have a ​ T eraRanger Evo​ ​ I 2C version,​...
  • Page 7 To connect the sensor to the Pixhawk, please use the open-ended cable and make your connection as shown below: Pixhawk I2C connector ref is : DF13 4pins Evo I2C backboard pins Pixhawk I2C port pins Color...
  • Page 8 1 Tx 2 Rx 3 GND 4 SDA 3 SDA Blue 5 SCL 2 SCL Green 7 VCC 1 VCC Orange 8 GND 4 GND Black Then connect the cable to the Pixhawk I2C port:...

  • Page 9: Px4 - Qgroundcontrol

    4 Setup the onboard firmware steps to follow: 4.1 PX4 – QGroundControl Note:​ Please always use the latest QGroundControl version​ , available from: https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html 1. Launch QGroundControl software 2. Open Vehicle setup menu and go into the Firmware tab (unplug and replug autopilot if needed).
  • Page 10 Select the latest stable release of PX4 Flight Stack. Press the Ok button to flash the autopilot.Go to: Parameters/Sensor Enable 3. In the field SENS_EN_TRANGER select your TeraRanger sensor type: ● TREvo Press Save to confirm.
  • Page 11 4. After making sure the sensor is connected to the Pixhawk I2C port, reboot the autopilot. 5. To verify that the sensor is operational open an Analyze Widget (Widgets/Analyze). From the list on the left hand side select; M1:DISTANCE_SENSOR.current_distance. The plot showing distance measurements should indicate that the sensor is working correctly.

  • Page 12: Arducopter - Qgroundcontrol

    4.2 ArduCopter – QGroundControl 1. Go to the Firmware tab on QGroundControl (reconnect autopilot in order to flash a new firmware). Select ArduPilot Flight Stack. In the dropdown menu select MultiRotor – APM:Copter. 2. Go to Parameters/RNGFND and update the following fields: ●...
  • Page 13 Evo 60m Evo 600Hz Evo 3m RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_MIN_CM: 50 RNGFND_MIN_CM: 75 RNGFND_MIN_CM: 10 RNGFND_MAX_CM: 6000 RNGFND_MAX_CM: 800 RNGFND_MAX_CM: 300 3. To verify that the sensor is operational open an Analyze Widget (Widgets/Analyze). From the list on the left hand side select; M1:DISTANCE_SENSOR.current_distance.

  • Page 14: Arducopter - Apm Planner

    4.3 ArduCopter – APM Planner 2 Please make sure you are running the latest version of APM Planner 2, available here: ​ h ttp://firmware.ardupilot.org/Tools/APMPlanner/ 1. Open APM Planner. Go to Initial Setup, Instal Firmware and flash the latest firmware of ArduPilot. 2.
  • Page 15 ● RNGFND_TYPE : 14 / TrOneI2c / TeraRangerI2C (each of these values should work, but they might appear differently based on GCS software version.) 4. Reboot the autopilot and select the GRAPHS tab. On the right hand side you should see the messages from the autopilot. From the list select;...

  • Page 16: Arducopter - Mission Planner

    4.4 ArduCopter – Mission Planner Please ensure you are running the latest version of Mission Planner, available here: http://firmware.ardupilot.org/Tools/MissionPlanner/ 1. Open Mission Planner. Go to Initial Setup, Instal Firmware and flash the latest firmware. 2. Click on USB device name on the right-hand side and select appropriate Serial Port and Baud Rate for your device and press the Connect button.
  • Page 17 Evo 60m Evo 600Hz Evo 3m RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_MIN_CM: 50 RNGFND_MIN_CM: 75 RNGFND_MIN_CM: 10 RNGFND_MAX_CM: 6000 RNGFND_MAX_CM: 800 RNGFND_MAX_CM: 300 4. Reboot the autopilot and select the Flight Data tab. On the left window you should see a quick tab with displayed value.