If we want to make it a twin sensors, we need an easy method to feed external power. I would suggest you add a 3 pins header with TFMINI-VCC in center with CanBus-5V on one side and EXT 5V on the other side so you can select power source with a jumper.
Have you looked at @olliw42 new node with a single TFMINI ?
Was any work ever done on integrating this into ardupilot? Canbus has always been the end goal with ardupilot and with all the new hardware being added serial ports are in very short supply and i2c is a never ending source of issues with its limitations.
we got AP_Periph that allow you to do that and connect back on the fcu either with CAN or Mavlink with UART
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