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Benewake TF02-Pro and TFMini


I just received these two units from Benewake.

TFMini is on a small Quadcopter (RPI4-Navio2) running arducopter 4.0.3

I had a fly today, Altitude hold is solid and obstacle clearing is also fine.

TF02-Pro is on an hexacopter with CUAV-V5+ running arducopter 4.0.3

Really happy with altitude control.


What caused the fly away?

No “Fly away”, a flight (fly) today.

I have a few of these, both the plus and the s model. I really like them, that work fantastic in Althold and POShold.

Great!The data looks stable.

I am building an Hex 980 and have the TF02, long story short i need more serials. I ordered the TF02-Pro

What are the setup parameters in Arducopter?


RNGFNDx_TYPE is 19 (like TF02?).


Some news:

CUAV V5+ is “Pixhawk” compatible, with a lot of serial plugs.

In order to test obstacle avoidance, I moved the Benewake TFMiniS from the Quad Navio2 platform to the Y6 CUAV V5+. Configured in frontal position,

and using one free serial (UART4), TF02-Pro is plugged in Telem2.

the result is interesting.

I moved after take-off close to the wood cabin at the airfield. In the video, you can see the Y6 bouncing away as I try to fly close to the wall. The camera is on ground, looking the sky.

From another flight, same day, without video.

You can visualise the distance to obstacle

and the RC_Pitch command

As soon I release the Pitch, the copter move backward to stay at safe distance from obstacle.

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