Connecting Lidar-lite through I2C

Step :1

Connect Lidar to the Pixwahk by 6 pin connector to the I2C port by the 3 pin connector .

Step :2

Connect the Pixhawk to the laptop and go to vehicle setup -> parameters and set the following parameters:-

• RNGFND1_TYPE = 3 “LidarLite-I2c”

• RNGFND1_MAX_CM = 3500 (the maximum range the lidar can accurately report in cm)

• RNGFND1_MIN_CM = 20 (the mininum range the lidar can accurately report in cm)

Step :3

To check if the lidar is working back to home page and go to Analyze tools ->Mavlink inspector -> DISTANCE_SENSOR and if the frequency is non-zero and the current distance is changing upon moving the lidar means the lidar is working properly.