rc.sensors : fix startup for lidars on Pixhawk boards

[mhkabir]

The check was not changed back to PX4FMU_V2 after we merged V3 and V2 configs.

This is a hotfix till we actually properly structure this whole sensors startup mess. This current way does not scale well as we add new boards and/or drivers.

[dagar]

Add the full range?

[mhkabir]

@dagar Added v4PRO. Others don't seem to expose Serial4 and/or have no documentation about UART to port mappings.

[Antiheavy]

I'm not sure this is related to your PR, but we've been struggling to get a TFmini up and running on UART8 on a FMUv4 board. We are using ttys6 (is this serial 4?), aka hardware UART8 going to PE0 and PE1 on the stm32.
We sometimes get it to respond to a single "tfmini test" command in console, but it sends unreasonable results and then will not respond on a second "tfmini test" command.

Any thoughts? Is this unrelated?

[mhkabir]

I believed that you're using the port meant for FrSky telemetry. I'm not fully sure, but I believe that it has some additional hardware on the port specifically needed for the FrSky telemetry. This is probably the reason for the failures.

[mhkabir]

@Antiheavy yep. Just checked. It has an inverter on it.

[Antiheavy]

@mhkabir thanks for checking that, however, the FMUv4 hardware we are using is slightly different than Pixracer. On our board this port does not have the inverter on it; it has the Rx/Tx traces from the STM32 PE0 and PE1 pins running straight out to a connector. Is there anything in the firmware that prevents us from using this port for a TFmini (or generically for anything else)?

[mhkabir]

Hmm alright. I think you should be fine in that case, from a software perspective. I don't have any better insights at this point without actually debugging on the hardware.

[Antiheavy]

@mhkabir okay thanks for checking.

[mhkabir]

@dagar Good to merge?

[dagar]

I thought there would be more, but let's go with this for now.