User Manual

SJ-PM-TFmini-T-01 A03
Benewake (Beijing) Co. Ltd.
Page28
Attachment 3: Application of TFmini in Pixhawk
Pixhawk is the upgrade of APM and PX4, of which APM uses conventional 8-bit SCM with limited
arithmetic capability. While the PX4 is a transitional product starting to use STM32F4. Pixhawk is more
refined and reliable flight control system developed from PX4. For the details of this series of the open
source flight control system, refer to http://ardupilot.org/. This website reliably introduces Pixhawk in
details, and thus it is much helpful for the user to learn and familiarize himself with the flight control system.
TFmini can be connected with Pixhawk for use. By selecting Pixhawk data output format, the TFmini can
directly be connected with the serial port of Pixhawk, and also it can connect with other communication
interfaces (e.g. I²C) of Pixhawk via appropriate adaptors. TFmini can be used in flight device for altitude
holding. It is recommended that Pixhawk adopts ArduCopter V3.4.9-V3.5.5 firmware.
Example for connecting Pixhawk:
a） TFmini for Mission Planner configuration description for pixhawk in altitude hold mode
Connect the flight control board to MP, Select [Full Parameter List] in the left from the below bar-
[CONFIG/TUNING] . Find and modify the following parameters:
AVOID_MARGIN=2
SERIAL2_PROTOCOL = 9 (Lidar)
SERIAL2_BAUD = 115
RNGFND_TYPE = 8 (LightWareSerial)
RNGFND_SCALING = 1