Part 2/2 How to setup Pixhawk with two rangefinder sensors, object avoidance and height estimation.

Make sure you also watch the first part of the video (link below) so you avoid any knowledge gaps.
https://www.youtube.com/watch?v=I1F_ac4Uous&t=44s

This video explains what parameters need to be changed so that Pixhawk recognizes two rangefinder sensors.

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All in one Drone kit:
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TF Mini Lidar Module:
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Pixhawk Flight Controller:
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S500 Frame:
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Frsky r-xsr Receiver:
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Frsky Qx7 Transmitter:
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ISDT Battery Charger (strongly recomended!):
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Usefull websites to read for more in depth understanding:

http://ardupilot.org/copter/docs/common-rangefinder-objectavoidance.html

http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

http://ardupilot.org/copter/docs/common-benewake-tfmini-lidar.html

http://en.benewake.com/agent

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. IC²) 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.

The parameters are listed below:

follow the normal instructions for setting up rangefinders.
set the RNGFNDx_ORIENT parameters (i.e. RNGFND_ORIENT, RNGFND2_ORIENT) to specify the direction the range finder is pointing in (i.e. 0=Forward, 2=Right, 4=Back, 6=Left, 24=Up, 25=Down)
set PRX_TYPE = “4” to enable using range finders as “proximity sensors”.
set AVOID_ENABLE to “7” to enable avoidance using proximity sensors (and fences)

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=1
SERIAL2_PROTOCOL = 9 (Lidar)
SERIAL2_BAUD = 115
RNGFND_TYPE = 8 (LightWareSerial) or 20 (benewaketf mini)
RNGFND_SCALING = 1
RNGFND_MIN_CM = 30
RNGFND_MAX_CM = 1000 for indoor use OR 600 for outdoors. This is the distance in centimeters that the rangefinder can reliably read.
RNGFND_GNDCLEAR = 15 (expressed in cm, depending upon mounting height of the module)
RNGFND_ORIENF=25
PRX_TYPE=4
PRX_YAW_CORE=22
Upon setting of these parameters, click [Write Params] on the right of the software to finish.
If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal.

b）TFmini for Mission Planner Configuration Instructions for Pixhawk in Obstacle Avoidance 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=1（Unit: m, set obstacle avoidance distance as required）
SERIAL2_PROTOCOL = 9 (Lidar)
SERIAL2_BAUD = 115
RNGFND_TYPE = 8 (LightWareSerial)
RNGFND_SCALING = 1
RNGFND_MIN_CM = 30
RNGFND_MAX_CM = 600 （Unit: cm, can be set according to the needs of measuring distance, outdoor TFmini recommended setting distance ≤ 600）
RNGFND_GNDCLEAR = 15（Unit: cm, depending upon mounting height of the module）
RNGFND_GAIN=0.8
RNGFND_ORIENF=0
PRX_TYPE=4
PRX_YAW_CORE=0
Upon setting of these parameters, click [Write Params] on the right of the software to finish.

Видео Part 2/2 How to setup Pixhawk with two rangefinder sensors, object avoidance and height estimation. канала Maixe Chrys