I was wondering if anyone on here has ever worked with or knows much about the VLP-16 with the Pixhawk 2.1 and Here+ RTK GPS. I'm currently working on a project and have built a quad copter using the PIxhawk and Here and now I'm wanting to attach a LiDAR sensor on it for 3D mapping. I cannot afford a LiDAR complete solution and was wanting to know if they will work together as is or what other parts I may need or alternative options for a LiDAR sensor. 

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This is the page in ardupilot.org about LIDAR
It is used for object avoidance but maybe somebody else can tell you if you can use it for 3D Mapping

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