Quick guide for UAV collision avoidance: lateral, above and below Technical support: support@terabee.
Table of contents Introduction 3 Using Evo Tower and individual sensors for collision avoidance 3 Schematics 4 Parameters 6 Copyright © Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) Terabee 2/8 2021
Introduction The objective of this quick guide is to explain how to implement full drone collision avoidance using Terabee sensors in Pixhawk platforms with Ardupilot autopilot (copter). Our solutions can be configured to provide 360° lateral collision protection as well as obstacle detection above and below the drone. This can be particularly useful for drone navigation indoors or in confined spaces such as in tunnels, sewage systems or under bridges.
The altimeter and ceiling detect is achieved thanks to our Evo sensor family (Evo 60m, 40m, 15m, 3m) with the I2C/UART backboard. The following link shows how to connect these sensors to Pixhawk: https://www.youtube.com/watch?v=rV8i9hRYtyQ&t=165s Evo Sensor Family You can find the Evo Tower here.
The following images show the Pin-to-pin connection between Terabee sensors and Pixhawk 4.
Parameters The following parameters enable the collision avoidance for Single Object Avoidance law from Ardupilot, https://ardupilot.org/copter/docs/common-simple-object-avoidance.html For more information related to other control laws from Ardupilot, please refer to the Wiki pages from Ardupilot.
Ardupilot Parameters Evo 60m (1) RNGFND1_ADDR 49 RNGFND1_MAX_CM 6000 RNGFND1_MIN_CM 50 RNGFND1_ORIENT 25 (Looking Down / Altimeter) RNGFND1_TYPE 14 Ardupilot Parameters Evo 60m (2) RNGFND2_ADDR 50 (Follow Procedure for Changing I2C address) RNGFND2_MAX_CM 6000 RNGFND2_MIN_CM 50 RNGFND2_ORIENT 24 (Looking Up / Ceiling detection) RNGFND2_TYPE 14 Copyright © Terabee, 90 Rue Henri Fabre 01630, St Genis-Pouilly, France (next to CERN) Terabee 7/8 2021
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