Hi everyone,
We’ve been testing a TF-Luna LiDAR module on a Pixhawk-based flight controller (CUAV X7) running ArduPilot 4.5, mainly to see how a sub-10 g sensor performs for low-altitude flight.
The unit was connected via UART (RNGFND1) using default parameters. Even under ~70 klux sunlight and constant rotor vibration, the readings stayed stable within ±5 cm of a reference laser rangefinder. Update rate was 250 Hz with no dropouts during throttle changes.
In comparison, I²C showed slightly higher latency, so UART seems better for real-time altitude hold. We also tried short hover tests between 0.5–6 m and terrain following over uneven ground — data stayed consistent across all tests.
Has anyone else experimented with small ToF LiDARs (TFmini, VL53L1X, etc.) for close-range sensing or landing assist? Curious what filtering or EKF tuning worked best for you in ArduPilot 4.x.
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(Shared for technical discussion — not affiliated with any vendor.)