Terra Ranger Evo Rangefinder I2C Issues

@James_Megariotis wrote:

Hi Everyone,

I am having a problem with the Terra Ranger Evo 60m model. I am able to hook it up and receive valid measurements from this sensor, but it seems to interfere with almost every other I2C device on the pixhawk 2.1.

It seems that once I set the parameters to match those required for the Terra Ranger 60m rangefinder, it interferes with initialization of other I2C devices. I am currently testing this rangefinder on a pixhawk 2.1 running Copter 3.6 with a here gps unit. The strange part is, it doesn’t matter if the rangefinder sensor is plugged in, once I set the parameters, all I2C devices seem to malfunction. If I set the parameters back to normal, the errors go away regardless of whether the sensor is still plugged in. I get tons of errors displayed on the hud in mission planner. These errors include:

Error pos horiz variance
Bad compass health
EKF indicator goes red

On the messages tab, I get some pre arm messages I have never seen before including:

PreArm: gyros still settling
PreArm: Waiting for Nav Checks

Yaw does not seem to update at all while the parameters are set as such.

I have no idea what causes this. I can only assume it is an issue with the terra ranger sensor driver. It is worth noting that the same problem is also present in the Arducopter 3.5.5 firmware, but the sensor does not provide valid data.

This problem can most likely be replicated by anyone by setting the parameters to:

RNGFND_ADDR: 49
RNGFND_TYPE:14

I have replicated this issue on multiple pixhawk 2.1 setups, but it is worth noting that they all utilized a here gps unit.

Any help or advice would be greatly appreciated.

Thanks,
James Megariotis

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