Instructions
4/17/2018 TeraRanger Evo Connection to Pixhawk Autopilots
https://www.terabee.com/connection-to-pixhawk-autopilots-teraranger-evo/ 2/16
3 Wiring Connection to Pixhawk
3.1TeraRanger Evo wiring connection – Pixhawk 2.1
3.2TeraRanger 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 ArduCopter – Mission Planner
1 Introduction
The purpose of this document is to explain how to connect a TeraRanger Evo sensor to a Pixhawk board
through the I2C interface and how to setup PX4 or ArduPilot firmware to enable 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. For APM 2 software, see here:http://firmware.ardupilot.org/. Refer
to the table below for compatibility.
Sensor Version Firmware Version compatibility
TR-Evo – PX4: from Flight Stack v.1.7.0 onwards
– APM: from CopterV3.6-dev onwards
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 aTeraRanger EvoI2C version,composed of: