Driver support for DTS6012M in ArduPilot

[NDevDrone]

Hi @PlaneStuffRC , FractalEng over here has worked out a driver for this sensor, you may want to take a look and provide review in case the commit suits your use case - ArduPilot/ardupilot#32188

Cheers,

[FractalEngineer]

Thanks for the heads up Ndev, @PlaneStuffRC I noticed you disabled your CRC check, did you find any issues leaving it ON?

[PlaneStuffRC]

Hi @PlaneStuffRC , FractalEng over here has worked out a driver for this sensor, you may want to take a look and provide review in case the commit suits your use case - ArduPilot/ardupilot#32188

Cheers,

I’m glad to hear that someone built a driver for ArduPilot. Personally, I managed to create that bridge using an ESP32 due to time constraints. What needs to be done in order to make an official release in the ArduPilot build?

[PlaneStuffRC]

Thanks for the heads up Ndev, @PlaneStuffRC I noticed you disabled your CRC check, did you find any issues leaving it ON?

I remember that when I was testing the LiDAR, as soon as I enabled CRC the data got messed up — either frames would come in very rarely, or I wasn’t computing the CRC correctly. I can run a few more experiments if that would help.

[FractalEngineer]

Hehe well I just got the merge so please feel free to test it out in the next nightly!

I believe your C3 implementation has some merit btw, mostly by offering a 3v3 rail to power this goofball off haha; not many FC seem to break out a 3v3 pad so I had to probe around to find one.

Very odd your CRC issue; I've been advised to use AP's modular crc modbus and it's been running stable in every condition I've put it in so far

Now to see how it rolls out in the wild I suppose 😅

[PlaneStuffRC]

Hehe well I just got the merge so please feel free to test it out in the next nightly!

I believe your C3 implementation has some merit btw, mostly by offering a 3v3 rail to power this goofball off haha; not many FC seem to break out a 3v3 pad so I had to probe around to find one.

Very odd your CRC issue; I've been advised to use AP's modular crc modbus and it's been running stable in every condition I've put it in so far

Now to see how it rolls out in the wild I suppose 😅

Yeah, I had the exact same thought when I went with the C3 😄
It’s tiny and it doubles as a clean 3.3V regulator for the sensor, so it kind of solves two problems at once. If I had gone with a separate regulator, the whole setup would’ve ended up roughly the same size anyway.

Plus, it was honestly way easier and faster for me to just write everything on ESP32 and keep full control over the data flow.

About the CRC — that’s interesting. I might revisit it using AP’s modbus CRC module and run a few more tests, because what I was seeing before was pretty inconsistent. Maybe I messed something up there.

Really curious to see how it behaves in the wild now 😄