I2C sensor address changed to default on Pixhawk restart

[MuhammadBilal1]

Describe the bug

I am connecting two LIDAR-Lite V3 sensors on the I2C port of Pixhawk 6C using the I2C Splitter.

Purpose of connecting two Range Finders:

1- First range finder will be used as distance sensor (facing downward) 2- Second range finder will be used as Collision Prevention (facing forward)

Drone Setup:

Autopilot: Pixhawk 6C Firmware: PX4 1.14.0 GPS: None Local Positioning Sensor: ARKFlow (connected at CAN port) Range Finder: LIDAR-Lite V3

Range Finders Configuration: (Analyze > Mavlink Console)

Starting collision prevention range finder (facing forward) with below command: nsh> ll40ls start -X -a 95 -R 0

Starting range finder (facing downward) with below command: nsh> ll40ls start -X -a 98

What's happening:

Both sensors are connected to the I2C splitter, both are working as fusion (both are giving only the smallest value).

Problem?

1- Is this possible to use multiple LIDAR-Lite V3 or LIDAR-Lite v3HP sensors as collision prevention (Forward, Rear, Right, Left) sensors? 2- What's the solution to orientation not being saved permanentaly? Upon restarting the orientation, the orientation goes back to the default (25). 3- Is there any other industrial grade sensor which I can use as collision prevention on all 5 sides of my drone?

What I tried?

I tried to connect one Range Finder on I2C and other on PWM port, but with this approach I am not getting distance sensor data from the sensor connected with PWM. ll40ls_pwm start

To Reproduce

None.

Expected behavior

Collision Prevention should work.

Screenshot / Media

No response

Flight Log

None.

Software Version

PX4 1.14.0

Flight controller

Pixhawk 6C

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[MuhammadBilal1]

@bresch @bkueng Can you please help me here or guide me to the one who knows the details of this.

[bkueng]

1- Is this possible to use multiple LIDAR-Lite V3 or LIDAR-Lite v3HP sensors as collision prevention (Forward, Rear, Right, Left) sensors?

Yes but I'm not sure if that has been tested.

2- What's the solution to orientation not being saved permanentaly? Upon restarting the orientation, the orientation goes back to the default (25).

You need to add both of your commands to the startup script (ll40ls start -X -a 95 -R 0 and ll40ls start -X -a 98)