Installing SF45 LiDAR on PX4 Without Removing Custom Firmware

I have a PX4-based drone running custom firmware with an older PX4 version. I want to integrate the Lightware SF45/B LiDAR sensor without removing or replacing my existing custom firmware.

Could you please guide me on how to install the necessary LiDAR driver and configure it while keeping my current firmware intact? Any documentation or steps would be greatly appreciated.

Hello,

That is the wrong forum, we are ArduPilot not PX4 : see there https://discuss.px4.io/

But on general answer if your currenr firmware don’t support this rangefinder, there is no way to just add the support for it without modifying the firmware.
ArduPilot would have the solution to use LUA scripts if it was supported by the current firmware but I don’t think PX4 has this capability

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