4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots Instruction Manual for: TeraRanger Evo Connection to Pixhawk Autopilots Published March 2018 Table of contents: 1 Introduction 2 Compatibility table https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 3 Wiring Connection to Pixhawk 3.1 TeraRanger Evo wiring connection – Pixhawk 2.1 3.2 TeraRanger Evo wiring connection – Pixhawk 1 4 Setup the onboard firmware steps to follow: 4.1 PX4 – QGroundControl 4.2 ArduCopter – QGroundControl 4.3 ArduCopter – APM Planner 2 4.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 1. TR-Evo sensor 2. TR-I2C/UART backboard 3. DF13 9P to open-ended cable 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 https://www.terabee.
/17/2018 Evo I2C backboard pins TeraRanger Evo Connection to Pixhawk Autopilots Pixhawk 2.1 I2C port pins Color 4 SDA 3 SDA Blue 5 SCL 2 SCL Green 7 VCC 1 VCC Orange 8 GND 4 GND Black 1 Tx 2 Rx 3 GND 6 9 Then connect the cable to the Pixhawk I2C port: https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 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 TeraRanger Evo I2C version, composed of: 1. TR-Evo sensor 2. TR-I2C/UART backboard 3. DF13 9P to open-ended cable To connect the sensor to the Pixhawk, please use the open-ended cable and make your connection as shown below: https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots Pixhawk I2C connector ref is : DF13 4pins Evo I2C backboard pins Pixhawk I2C port pins Color 4 SDA 3 SDA Blue 5 SCL 2 SCL Green 7 VCC 1 VCC Orange 8 GND 4 GND Black 1 Tx 2 Rx 3 GND 6 9 Then connect the cable to the Pixhawk I2C port: https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 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). Select the latest stable release of PX4 Flight Stack. Press the Ok button to flash the autopilot.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 3. In the field SENS_EN_TRANGER select your TeraRanger sensor type: TREvo Press Save to confirm. https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 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. https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 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. Check Advanced settings and select Developer Build (master) (Warning: This is test firmware. Fly at your own risk!). Press OK to flash the updated firmware. https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 2. Go to Parameters/RNGFND and update the following fields: RNGFND_TYPE : 14 / TrOneI2c / TeraRangerI2C (each of these values should work, but they might appear differently based on the GCS software version.) https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots Evo 60m Evo 600Hz RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_MIN_CM: 50 RNGFND_MIN_CM: 75 RNGFND_MAX_CM: 6000 RNGFND_MAX_CM: 800 After setting the values in these fields, please reboot the autopilot. 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.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 4.3 ArduCopter – APM Planner 2 Please make sure you are running the latest version of APM Planner 2, available here: http://firmware.ardupilot.org/Tools/APMPlanner/ 1. Open APM Planner. Go to Initial Setup, Instal Firmware and flash the latest firmware of ArduPilot. 2. Click on USB device name on the right hand side and select the appropriate Serial Port and Baud Rate for your device and pressthe Connect button. 3.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots 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. 3.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots Evo 60m Evo 600Hz RNGFND_ADDR: 49 RNGFND_ADDR: 49 RNGFND_MIN_CM: 50 RNGFND_MIN_CM: 75 RNGFND_MAX_CM: 6000 RNGFND_MAX_CM: 800 4. Reboot the autopilot and select the Flight Data tab. On the left window you should see a quick tab with displayed value. Double click on one and check SonarRange. The distance is now displayed on the Quick flight data menu. https://www.terabee.
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots https://www.terabee.
