VL6180 Time of Flight (ToF) sensor into Ardupilot

ArduRover
1

Hi, i have a couple of VL6180 ToF I2C sensors - that are good for 20cm. Whats the best way to get their range distances into Ardupilot.

Im thinking an ESP8266 with the drivers loaded then UART into the Flight Controller. Hoping i can I2C it directly into the flight controller.

The plan is to use a pair of these to keep the deck at the right height on the mower…

Thanks in advance

2

It’s difficult to use more than one, you would need to change the addresses then convert to something like mavlink, its been done with the vl53l0x, you would need to edit it to add your lidar in. I recently done something similar for the VL53l1x.