Lidar Lite V3 newer than 2016 is not recognized by Pixhawk 2.1 #12278

ar1040 · 2019-06-14T21:25:29Z

The Lidar Lite V3 rangefinder is an optional rangefinder to be used with the Pixhawk 2.1. It can be enabled by the parameter EKF2_RNG_AID=1 and the Lidar Lite V3 can be initialized by the parameter SENS_EN_LL40LS. I use the I2C protocol.

I currently have 3-4 Lidar Lite V3's that are dated 2016 on the label. These Lidars work every time. The tests I have ran:

Visual: Noticing the craft holds altitude
The Analyze tab in QGroundControl: In QGroundControl, look in the top left corner, click widgets, then analyze. Type distance_sensor_current in the filter box. If the Lidar is working it will display a parameter that can be clicked and data can be viewed. (Note: the Lidar must be connected to the Pixhawk correctly, and both the Pixhawk and the Lidar have to be powered. I will add links to the correct way to wire this at the end)
Arduino test: Connected the Lidar to the arduino using the provided documentation. https://learn.sparkfun.com/tutorials/lidar-lite-v3-hookup-guide/all

The 2016 Lidars will pass all of the tests described above. The 2018-2019 Lidars will only pass the arduino test.

I decided to go straight to the source by contacting Garmin. Garmin's response was, "The newer units use a newer hardware design that uses a faster FPGA. The intent was for it to function as a drop-in replacement for the original, but there are some differences. We have made updates to the https://github.com/garmin/LIDARLite_Arduino_Library that are intended to account for the differences."

Also I have attached what Garmin sent me about the change.
LLv3-I2C-Guidelines.pdf

Do you guys plan to support this new change? When could I expect the change to be implemented if so? Is there anything I can do in the meantime to fix this? Any and all help is appreciated.

mcsauder · 2019-07-05T19:59:34Z

@ar1040 , I will put some time into this issue in the next week or so and report back here as I make progress.

mcsauder · 2019-07-10T05:12:57Z

@ar1040, my hardware is a V3HP and fortunately/unfortunately it works as expected with current PX4:master firmware flashed to a pixhawk 4 (fmu-v5). Where did you obtain your newer units and are they the V3 or V3HP?

ar1040 · 2019-07-11T15:10:40Z

@mcsauder, my hardware is a V3. I bought these units from robotshop.com, but they are original Garmins. I can use the PWM protocol and it works, but it only reads 12 meters max, versus 17 meters using I2C so I would prefer to have the extra 5 meters of distance.

I think it is also worth mentioning I am using a Pixhawk Cube and not the Pixhawk 4. I am also using the 1.8.2 f13bbac firmware version. I would like to swap to the 1.9.2 firmware but there are still issues with takeoff and attitude that conflicts with my software, but this is a different issue in itself.

mcsauder · 2019-07-12T03:18:41Z

Hi @ar1040 . This might be very difficult to resolve if we cannot move you to the current release firmware; there are many bugfixes and code changes in the past year that might complicate resolving the issue or render it irrelevant. Could you raise a new issue to deal with the reason you cannot update to new firmware?

ar1040 · 2019-07-15T15:46:19Z

@mcsauder I would like to use the newest firmware version due to the other fixes. I will open a new issue regarding the firmware issues. If the changes for the Lidar are pushed to the latest firmware version, it would still be very helpful, as I plan to switch our units to the latest firmware.

mcsauder · 2019-07-17T23:52:47Z

@ar1040 , I've flashed v1.8.2 and and see an issue that might be the same as yours with my fmu-v5 hardware, the ll40ls i2c driver fails to initialize properly in the LidarLiteI2C::probe() call.

So, I think you have two options: 1) Upgrade to v1.9.2, or 2) backport the current driver probe() method to 1.8.2 and keep running with what you have.

I have backported to v1.8.2 by copying the current PX4:master branch probe() method and a few #defines.

You'll need to add these #defines to LidarLiteI2C.h


#define LL40LS_UNIT_ID_HIGH 0x16
#define LL40LS_UNIT_ID_LOW 0x17
/* Device limits */
#define LL40LS_MIN_DISTANCE (0.05f)
#define LL40LS_MAX_DISTANCE_V3 (35.00f)
#define LL40LS_MAX_DISTANCE_V1 (25.00f)

and this variable in the class:

uint16_t	_unit_id;

and copy/paste the current probe() method from here.

As this appears to not be an issue with v1.9.2 and newer code, we can probably close out this issue. Let us know your thoughts.

ar1040 · 2019-07-18T14:37:44Z

@mcsauder , I updated another one of my Pixhawk Cubes to v1.9.2 but I still cannot get a distance sensor reading. I normally test by opening QGC and clicking the widgets tab on the top left, then analyze. I then type "distance" in the search bar of the analyze window. If the sensor is recognized, it gives me 8 (I think) data sets to view. I choose the distance_sensor_current data set and view it to make sure it is reading the distance correctly.

However, even after I updated to v1.9.2 I could not get my Lidar Lite V3 to register.

mcsauder · 2019-08-01T01:26:20Z

@ar1040 , can you test again with today's current PX4:master branch?

ar1040 · 2019-08-01T17:37:28Z

@mcsauder , I pulled the latest master via QGC (dropdown and selected master). The firmware shows up as 1.9.0dev. I am not sure if I am pulling the correct firmware version. But I tested it anyway. Still, only my 2016 lidar works and none of the 2019s work with I2C (I tried 5 that I had on hand). If I am not testing the correct firmware please let me know.

larsje39 · 2019-08-04T12:13:59Z

Hello, I am having the same issue (also with the master branch). One thing I am noticing is that if I boot using an older Lidar I see the data measurements, and if I leave the drone on and connect the newer lidar it works as well. However, when I do a boot using the newer lidar it does not work.
With kind regards,
Lars

mcsauder · 2019-08-05T15:05:17Z

@ar1040 ,

@mcsauder, yes my is working now, but only if I run the ll40ls start command in the Mavlink Console, otherwise it never shows in the analyze window.

I've tried mine on the bench connected to I2C A and it starts correctly at boot with SENS_EN_LL40LS set to I2C (2). Which port are you connected to so that I can try to get as close to your configuration as I can?

ar1040 · 2019-08-05T15:08:30Z

@mcsauder

I've tried mine on the bench connected to I2C A and it starts correctly at boot with SENS_EN_LL40LS set to I2C (2). Which port are you connected to so that I can try to get as close to your configuration as I can?<

I am using the only I2C port available on the Pixhawk 2.1 Cube that I am aware of.

HenryHuYu · 2019-08-14T04:37:25Z

@ar1040 ,

@mcsauder, yes my is working now, but only if I run the ll40ls start command in the Mavlink Console, otherwise it never shows in the analyze window.

I've tried mine on the bench connected to I2C A and it starts correctly at boot with SENS_EN_LL40LS set to I2C (2). Which port are you connected to so that I can try to get as close to your configuration as I can?

This is actually common problem as I am also met with this. The follows is what Garmin replied in email:
If the manufacture date on the sensor is after 08/2018, you will need to update your drivers in order to make it work properly.
You can refer to this support topic article for more info https://support.garmin.com/en-US/?faq=BI0Aphz9cx5OXvG3fxnux6&partNumber=010-01722-00&searchQuery=i2c&tab=topics&textPage=1

Is this solved yet?

mcsauder · 2019-08-14T04:56:16Z

I'm refactoring the driver to try to solve this... Once I get a PR in, would you all help me test?

mcsauder · 2019-08-14T05:05:34Z

No, this isn't solved yet. Please feel free to submit a PR or see also #12695

mcsauder · 2019-09-12T02:46:59Z

Hi @HenryHuYu and @ar1040 , would you give current master branch a run and see if this issue is solved? Thanks!

mcsauder · 2019-09-17T03:17:55Z

I think this is fixed now.... or at least I hope it is. Please re-open if it is still an issue!

ar1040 · 2019-09-23T16:52:16Z

@mcsauder, I apologize for the late response. I did pull the master and I am still having the same problem as I can not get data from the lidar unless I start it with the "ll40ls start" command in the mavlink console.

stale · 2019-12-22T17:15:44Z

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

julianoes · 2020-01-30T14:57:27Z

Looks like a potential fix has been merged. Closing, please re-open if the issue persists.

ghost · 2020-07-16T14:13:35Z

I purchased a lidarlite which is manufactured 2019/01, i'm getting the same issue on 1.10.1 and i'm using pixhawk 4 hardware.
FMUV5
It doesn't show up and also even whether i start the driver it is giving me the following error

ghost · 2020-07-16T15:53:28Z

it seems my lidarlite has some problem, even in arduino it only gets nack message, not the same issue

weekly-digest bot mentioned this issue Jun 16, 2019

Weekly Digest (9 June, 2019 - 16 June, 2019) #12290

Closed

mcsauder mentioned this issue Jul 16, 2019

PX4 V1.9.0 and Later: Attitude Control and Takeoff Issues #12484

Closed

mcsauder mentioned this issue Aug 1, 2019

LidarLiteI2C write_reg() correction and uniform initialization. #12604

Merged

mcsauder mentioned this issue Aug 13, 2019

Distance senslr ll40ls will never be executed without running IMU driver #12690

Closed

mcsauder mentioned this issue Aug 14, 2019

Refactor the ll40ls namespace driver methods to more closely match other distance sensor driver implementations #12695

Merged

mcsauder mentioned this issue Aug 21, 2019

LidarLite driver fix #12756

Merged

mcsauder closed this as completed Sep 17, 2019

mcsauder reopened this Sep 23, 2019

dakejahl mentioned this issue Oct 29, 2019

Removed lidar lite reset after intialization #13312

Merged

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stale bot added the stale label Dec 22, 2019

julianoes closed this as completed Jan 30, 2020

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Lidar Lite V3 newer than 2016 is not recognized by Pixhawk 2.1 #12278

Lidar Lite V3 newer than 2016 is not recognized by Pixhawk 2.1 #12278

ar1040 commented Jun 14, 2019 •

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Lidar Lite V3 newer than 2016 is not recognized by Pixhawk 2.1 #12278

Lidar Lite V3 newer than 2016 is not recognized by Pixhawk 2.1 #12278

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