From f683daef1fbeb0c3113fec36095307bbf36585ae Mon Sep 17 00:00:00 2001
From: Aerial Robotics IIT KANPUR <aerialroboticsiitk@gmail.com>
Date: Mon, 3 Jul 2023 09:53:27 +0000
Subject: [PATCH] GITBOOK-74: change request with no subject merged in GitBook

---
 SUMMARY.md                                    |  3 ++-
 .../README.md                                 | 10 ++++++++
 .../connecting-lidar-lite-through-i2c.md      | 23 +++++++++++++++++++
 3 files changed, 35 insertions(+), 1 deletion(-)
 create mode 100644 hardware-integration/integration-of-sensors-with-pixhawk/README.md
 create mode 100644 hardware-integration/integration-of-sensors-with-pixhawk/connecting-lidar-lite-through-i2c.md

diff --git a/SUMMARY.md b/SUMMARY.md
index e766f5d..d32265f 100644
--- a/SUMMARY.md
+++ b/SUMMARY.md
@@ -56,7 +56,6 @@
     * [ROS](https://docs.google.com/presentation/d/1lUvV41uaQqdtztrlgkrif68w\_EaiigFQHx-20KBLS0M/edit#slide=id.g1e277ae309\_0\_20)
     * [Rotorcraft](https://docs.google.com/presentation/d/1TMbI3keAjQU01uiV6TkL2K\_ZnNua6E8ecNHpH-NTFwI/edit#slide=id.p)
     * [Software Training](https://github.com/RoboJackets/software-training)
-* [Connecting lidar-lite through I2C](connecting-lidar-lite-through-i2c.md)
 * [Control System](control-system/README.md)
   * [Model Predictive Control](control-system/model-predictive-control/README.md)
     * [System Identification](control-system/model-predictive-control/system-identification.md)
@@ -81,6 +80,8 @@
 * [Machine Learning](machine-learning/README.md)
   * [Datasets](machine-learning/datasets.md)
 * [Hardware Integration](hardware-integration/README.md)
+  * [Integration of Sensors with PixHawk](hardware-integration/integration-of-sensors-with-pixhawk/README.md)
+    * [Connecting Lidar-lite through I2C](hardware-integration/integration-of-sensors-with-pixhawk/connecting-lidar-lite-through-i2c.md)
   * [Miscellaneous](hardware-integration/miscellaneous.md)
   * [Connections](hardware-integration/connections.md)
 * [Resources](resources/README.md)
diff --git a/hardware-integration/integration-of-sensors-with-pixhawk/README.md b/hardware-integration/integration-of-sensors-with-pixhawk/README.md
new file mode 100644
index 0000000..f5a93c3
--- /dev/null
+++ b/hardware-integration/integration-of-sensors-with-pixhawk/README.md
@@ -0,0 +1,10 @@
+# Integration of Sensors with PixHawk
+
+### Lidar-lite V3
+
+{% content-ref url="connecting-lidar-lite-through-i2c.md" %}
+[connecting-lidar-lite-through-i2c.md](connecting-lidar-lite-through-i2c.md)
+{% endcontent-ref %}
+
+
+
diff --git a/hardware-integration/integration-of-sensors-with-pixhawk/connecting-lidar-lite-through-i2c.md b/hardware-integration/integration-of-sensors-with-pixhawk/connecting-lidar-lite-through-i2c.md
new file mode 100644
index 0000000..08c1aed
--- /dev/null
+++ b/hardware-integration/integration-of-sensors-with-pixhawk/connecting-lidar-lite-through-i2c.md
@@ -0,0 +1,23 @@
+# Connecting lidar-lite through I2C
+
+## Step :1&#x20;
+
+Connect Lidar to the Pixwahk by 6 pin connector to the I2C port by the 3 pin connector .
+
+## Step :2
+
+Connect the  Pixhawk to the laptop and go to vehicle setup -> parameters and set the following parameters:-
+
+
+
+* [RNGFND1\_TYPE](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-type) = 3 “LidarLite-I2c”
+* [RNGFND1\_MAX\_CM](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-max-cm) = 3500 (the maximum range the lidar can accurately report in cm)
+* [RNGFND1\_MIN\_CM](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-max-cm) = 20 (the mininum range the lidar can accurately report in cm)
+
+## Step :3
+
+To check if the lidar is working back to home page and go to  Analyze tools ->Mavlink inspector -> DISTANCE\_SENSOR and if the frequency is non-zero and the current distance is changing upon moving the lidar means the lidar is working properly.
+
+## &#x20;
+
+####