Lightware SF45 Lidar does not work with PX4

[berkayay048]

Describe the bug

Hi,
Here are the facts about our system:

1-PX4 Branch is 1.14.3 (we also tried on 1.14.2, 1.15.4 and 1.16.0-alpha2)

2-Our board is Pixhawk The Cube Orange

3- We have followed instructions on the PX4 website and we don’t get anything on mavlink for distance sensor. Our baudrate is set 921600 on both board and sf45.

4- The lidar is power by an external 5V power supply with a common ground with autopilot.

5- Cable configuration is correct for RX and TX (tested several times)

6- We have found two specific ways to make it work (getting distance sensor data) which are these:

-Without giving any power to board, we connect the sf45 by lightware and start scanning on the app. Later, we disconnect the lidar(sf45) and connect to board simultaneously powering the system (board and lidar keep in mind lidar is connected with external power to battery). In this way, we obtain distance data on the mavlink inspector finally.

-The second way is board is connected to computer that the board parameter SENS_EN_SF45_CFG is set to disable at first. The power to system is not given at this moment. The parameter SENS_EN_SF45_CFG is set to TELEM1 or TELEM2 (this is where lidar is wired). While rebooting the board with new parameter, the power to the system is given simultaneously. In this way, we get the distance data again.

7- We can’t get any distance data in the scenarios (usual way included) excpet these above two identitical scenarios. One small change in above scenarios still yield with no distance data on the board. We also observed that on mavlink console; lightware_sf45_serial status returns with reply but it seems it is stuck because everything seems to be identitical whenever we send the command. I guess there has been some communication for once but not later.

To Reproduce

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Expected behavior

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Screenshot / Media

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Flight Log

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Software Version

PX4 Branch is 1.14.3 (we also tried on 1.14.2, 1.15.4 and 1.16.0-alpha2)

Flight controller

Pixhawk The Cube Orange

Vehicle type

Multicopter

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

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Additional context

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