To my knowledge, ArduCopter can use both OS : NuttX and ChibiOS.
But with the latest version, NuttX is not anymore deployed. And I know that ChibiOS doesn’t include LidarLite V3 with PWM (but only with I2C).
So you have the choice to change from PWM to I2C (not really complicated, hard and soft), or to keep a version that is still using NuttX (and wait that ChibiOS is compatible with PWM for lidars)
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