The integration between Veronte and Lidar is performed using the analog interface on the main connector which produces a voltage proportional to the measured altitude. In this example, a lightweight laser altimeter for above-ground level measurement (SF11) is configured.
When the Lidar is correctly installed, it is possible to configure it on the PC using the Lightware Terminal software that can be downloaded from this link:
Installation Manual: http://www.lightware.co.za/shop/en/drone-altimeters/51-sf11c-120-m.html
Veronte Configuration – ACD In
When Lidar connection to Veronte is performed, the autopilot configuration has to be completed. To do this, it is necessary to correctly configure the pin 25 – ACD In connection (see section 6.2.5 for connections and section 2.3 for electrical information).
Lidar configuration pin 25
The red part of this window has to be completed in order to set the correct conversion from the voltage measurement to the physical variable, according to the offset and sensitivity of the sensor:
Measure = Sensitivity • (Vin – Offset).
The result of this linear operation is stored in a variable selected by the user that in this case is Lidar 1 altitude [m].
In the blue part, it is possible to create an alarm variable that will be triggered when the measured value is lower or greater than a fixed values. For example, in this case, an alarm could be triggered when the measure is lower than 0 [m] or greater than 120 [m] meters (Lidar limits). The alarm is stored in a variable selected by the user (in this case, the alarm Power B error is used).
Lidar alarm example
Veronte Configuration – Altimeter
The Altimeter configuration has to be defined in the Devices panel of Veronte (Devices > Sensors > Altimeter). Configuration tools are explained in section 220.127.116.11 but a good configuration for the SF11 Lidar is the one showed in the following figure.
Altimeter configuration example
The following figure shows a diagram with the values of maximum and minimum Above Ground Level altimeter, and the maximum tilt angle.
It is important to correctly define the distance of the altimeter from the gravity center and the AGL and Tilt angle limits in order to avoid a possible measurement errors.