Blogs

For more information about Benewake LiDAR TF03, see https://benewake.short.gy/tf03-lidar-diy.

TFmini-Plus can be connected with the IIC port of CUAV V5. There are four IIC ports available on the flight controller, but by default, data can only be read through IIC port-2. In order to use other ports, some settings will be required like compiling the firmware from source code etc., because there is no direct settings available in Ardupilot firmware, but this is not investigated yet. In this tutorial, we will use IIC port-2. LiDAR can be interfaced with flight controller for the purpose of Altitude Holding or Obstacle Avoidance (both will be explained in this document). At the time of writing this document, the controller used was CUAV V5 flashed with ArduCopter V4.0.7, but this document can be used with other flight controllers running with different ArduPilot firmware versions with slight modification in parameter names and choosing the right port on flight controller.

1. TFmini-Plus Settings:

Note: If there are fluctuations in readings, then set the frame rate to 250Hz otherwise don’t need for it. Please see the details of “frame rate” and changing the communication interface in Section-7.4 table-11.

Standard output mode of LiDAR should be used instead of PIX mode in the latest firmwares. PIX mode was only required for the firmware versions older than Arducopter V3.6.2.

The default communication of TFmini-Plus is TTL, IIC and TTL uses the same cable, so set TFmini-Plus to IIC communication first. You can see detail commands in product manual.

We take two TFmini-Plus as an example (for obstacle) avoidance in this tutorial and set the address 0x10 and 0x11 separately.

Note：

1. Default cable sequence of TFmini-Plus and CUAV V5 is different, please change it accordingly (SDA and SCL wires need to be interchanged) or you can make an intermediate cable for connecting mini-Plus with controller. Controller needs GH 1.25 4-pin connector to interface LiDAR with IIC port-2. Looking at the pinout of controller, pin configurations are starting from left to right:
2. IIC connector should be purchased by user
3. If TFmini-Plus faces down, please ensure the distance between lens and ground is larger than TFmini-Plus’s blind zone (10cm)
4. If more TFmini-Plus need to be connected (10 LiDARs can be connected), the method is same.
5. Power source should meet the product manual demands:5V±0.5V, larger than 140mA*number of TFmini-Plus

2. CUAV V5 Connection:

See the connection details in CUAV V5 manual and TFmini-Plus manual:

Figure 1: Schematic Diagram of Connecting Two TFmini-Plus to I2C Interface of CUAV

3. Parameters settings (Obstacle Avoidance):

Connect the flight control board to Mission Planar. Select [CONFIG/TUNING] and then click on [Full Parameter List] in the left from the below bar. Find and modify the following parameters:

Attention: distance between UAV margin and LiDAR should be larger than LiDAR non-detection zone.

Common settings:

AVOID_ENABLE= 3 [if 3 = UseFence and UseProximitySensor doesn’t work in IIC then choose 2 = UseProximitySensor]

AVOID_MARGIN=4 [can be set based on user requirements]

PRX_TYPE=4

Settings for first TFmini-Plus:

RNGFND1_ADDR=16 [Address of #1 TFmini-Plus in decimal]

RNGFND1_MAX_CM=400 [It could be changed according to real application requirement but should be smaller than effective measure range of LiDAR, unit is cm] 

RNGFND1_MIN_CM=30 [It could be changed according to real application requirement and should be larger than LiDAR non-detection zone, unit is cm] 

RNGFND1_ORIENT=0 [#1 TFmini-Plus real orientation]

RNGFND1_TYPE = 25 [TFmini-Plus IIC same as TFmini-S IIC]

Settings for second TFmini-Plus:

RNGFND2_ADDR=17 [Address of #2 TFmini-Plus in decimal]

RNGFND2_MAX_CM=400

RNGFND2_MIN_CM=30

RNGFND2_ORIENT=1 [#2 TFmini-Plus real orientation]

RNGFND2_TYPE=25 [TFmini-Plus IIC same as TFmini-S IIC]

Upon setting of these parameters, click [Write Params] on the right of mission planner to finish. After writing the parameters you need to power off the controller and then turn it on to apply the setting changes.

If the error message “PreArm: check the proximity sensor” appears, please check if the connection is correct, the power supply is normal and youhave restarted the controller. Also check whether you have changed the mode from Standard mode to Pix mode while the firmware is 3.6.2 or higher. If yes, then the same error will encounter.

How to see the target distance from the LiDAR: press Ctrl+F button in keyboard, the following window will pop out:

Click button Proximity, the following window will appear:

The number in green color means the distance from LiDAR in obstacle avoidance mode（it doesn’t mean the real time distance from LiDAR) and will not be influenced in Mission Planner. The mission planner version at the time of writing this tutorial was v1.3.69.

4. Parameters settings (Altitude Hold):

Connect the flight control board to Mission Planar. Select [CONFIG/TUNING] and then click on [Full Parameter List] in the left from the below bar. Find and modify the following parameters:

Note: If RNGFND1 and RNGFND2 are already configured, then use RNGFND3 or other as Altitude Hold Sensor.

RNGFND3_ADDR=18

RNGFND3_TYPE = 25 [TFmini-Plus IIC option]

RNGFND3_MIN_CM = 30 [It could be changed according to real application requirement and should be greater LiDAR than non-detection zone, unit is cm]

RNGFND3_MAX_CM = 300   [It could be changed according to real demands but should be smaller than effective measure range of LiDAR, unit is cm]

RNGFND3_GNDCLEAR = 15 [expressed in cm, depending upon mounting height of the module and should be greater LiDAR than non-detection zone]

RNGFND3_ORIENT=25 [facing down]

Upon setting of these parameters, click [Write Params] on the right of mission planner to finish. After writing the parameters, you need to power off the controller and then turn it on to apply the setting changes.

If the error message “Bad LiDAR Health” appears, please check if the connection is correct, the power supply is normal and you have restarted the controller. Also check whether you have changed the mode from Standard mode to Pix mode while the firmware is 3.6.2 or higher. If yes, then the same error will encounter.

How to see the altitude value from LiDAR sensor: double click the area of the Mission Planner, look at the following picture:

Select option sonarrange, see following picture:

The altitude distance from the LiDAR will be displayed in Sonar Range (meters), see the following picture:

For more information about TFmini-Plus, see https://benewake.short.gy/tfminis-lidar-diy.

Summary: We’ve been testing Benewake’s TF-Luna LiDAR on multirotor UAVs to evaluate how a sub-10 gram sensor performs in real flight conditions. The results show impressive precision and stability for low-altitude control, obstacle avoidance, and terrain following — all at a fraction of the cost of larger LiDARs.

Hi everyone, we’re an engineering team focused on UAV sensing and LiDAR integration. Over the past few months, we’ve tested the Benewake TF-Luna LiDAR across several drone platforms to evaluate how compact LiDAR modules perform under real flight dynamics. Our goal was simple: find out whether a lightweight, low-power sensor can deliver reliable altitude and obstacle data in outdoor sunlight and vibration.

It turned out — it absolutely can.

⚙️ Technical Overview

The TF-Luna is a single-point Time-of-Flight (ToF) LiDAR, purpose-built for short-range, high-frequency distance measurement. Despite its small form factor, it delivers strong consistency and precision suitable for flight control and perception tasks.

Even under 70 klux sunlight and continuous rotor vibration, the TF-Luna maintained stable readings with minimal noise. Integration through UART or I²C with Pixhawk, ArduPilot, or Arduino controllers was straightforward — requiring only standard serial communication.

🚁 Field Test Highlights

We mounted the TF-Luna on a 1.5 kg multirotor and ran a series of outdoor flights between 0.5 m and 6 m altitude. Results showed:

• Stable distance readings within ± 5 cm of a reference laser rangefinder

• Zero signal dropouts at 250 Hz update rate during fast throttle changes

• Accurate landing data even on uneven ground

That level of precision and responsiveness makes it perfectly suited for UAVs that rely on real-time distance data for autonomous takeoff, landing, and terrain following.

🧭 UAV Applications

• Altitude Hold – Improves hover stability when barometric sensors drift

• Obstacle Avoidance – Detects nearby structures in both indoor and outdoor flights

• Landing Assistance – Provides accurate ground distance during descent

• Terrain Following – Maintains constant height over crops or irregular surfaces

• Swarm Sensing – Multiple modules can be used for multi-directional obstacle detection

At under 10 grams and 0.35 W consumption, TF-Luna adds negligible weight and power draw — perfect for compact UAVs or multi-sensor payloads.

🔋 Compact Power, Serious Performance

We often struggle with sensor trade-offs in UAV design: every gram matters, and every watt shortens flight time. TF-Luna solves both. It’s one of the few modules we’ve found that combines low cost, low power, and data reliability — a rare combination in the LiDAR category.

For developers experimenting with swarm drones, indoor navigation, or robotic platforms, it’s an easy addition that upgrades spatial awareness without burdening the system.

🌍 Why It Matters

LiDAR provides what other sensors can’t: quantitative certainty. While cameras interpret scenes, LiDAR gives hard numbers — the distance data your flight controller can trust. By offering accurate, low-latency measurements at a reasonable cost, the TF-Luna bridges the gap between research-grade sensing and consumer-level accessibility.

It’s helping more UAV developers — from hobbyists to research teams — build safer, smarter autonomous systems.

🔗 Learn More & Collaborate

We’ve documented our setup process, test results, and integration examples here: 👉 www.lidartechsolution.com

If you’re working on UAV autonomy, terrain mapping, or LiDAR-based sensing, we’d love to exchange data, results, or integration tips. The DIYDrones community has always been at the frontier of UAV innovation — and compact LiDAR modules like the TF-Luna are key to taking that frontier further.

Benewake TF-Luna — small form, precise vision, flight-proven reliability.

TFmini-S can directly be connected with the serial port of PixHawk. TFmini-S can be used in flight controller for the purpose of altitude holding or obstacle avoidance. This document is suitable to PixHawk adopts ArduCopter V3.6.2 or higher firmware (Note: Standard output mode should be used instead of PIX mode by Benewake GUI in firmware V3.6.2 or above).

Example for connecting PixHawk:

Figure 1 Schematic Diagram of Connecting TFmini-S with TELEM 2 Interface (Serial Port 2) of PixHawk

a） Mission Planner configuration description of TFmini-S for the purpose of altitude hold 

Connect the flight control board to Mission Planar. Attention: the installation height should be larger than non-detection zone. Select [Full Parameter List] in the left from the below bar- [CONFIG/TUNING]. Find and modify the following parameters:

SERIAL2_PROTOCOL = 9  [Rangefinder option]

SERIAL2_BAUD = 115  [Choose the current LiDAR baud rate, if haven’t been changed, the default baud rate 115200 should be selected, that is 115]

RNGFND1_TYPE = 20 [TFmini-S UART option]

RNGFND1_MIN_CM = 30 [It could be changed according to real demands and should be bigger LiDAR than non-detection zone, unit is cm]

RNGFND1_MAX_CM = 300   [It could be changed according to real demands but should be smaller than effective measure range of LiDAR, unit is cm]

RNGFND1_GNDCLEAR = 15 [expressed in cm, depending upon mounting height of the module and should be bigger LiDAR than non-detection zone]

RNGFND1_ORIENT=25 [face down]

PRX_TYPE=0

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad LiDAR Health” appears, please check if the connection is correct and the power supply is normal. Also check it whether you have changed the mode from Standard mode to Pix mode while the firmware is 3.6.2 or higher if yes then the same error will encounter.

How to see the altitude value from LiDAR sensor: double click the area of the Mission Planner, look at the following picture:

Select option sonarrange, see following picture:

The altitude distance from the LiDAR will be displayed in Sonar Range (meters), see the following picture:

B）Mission Planner configuration description of TFmini-S for the purpose of Obstacle Avoidance

It’s only recommended to be used in Loiter mode, the detailed setting is as follows:

Connect the flight control board to MP. Attention: distance between UAV margin and LiDAR should be larger than LiDAR non-detection zone. Select [Full Parameter List] in the left from the below bar- [CONFIG/TUNING]. Find and modify the following parameters:

AVOID_MARGIN=2 [Unit: m, set obstacle avoidance distance as required]

SERIAL2_PROTOCOL = 9 [Rangefinder option]

SERIAL2_BAUD = 115 [Choose the current LiDAR baud rate, if haven’t been changed, the default baud rate 115200 should be selected, that is 115]

RNGFND1_TYPE = 20 [TFmini-S UART option]

RNGFND1_MIN_CM = 30   [It could be changed according to real demands and should be bigger LiDAR than non-detection zone, unit is cm]

RNGFND1_MAX_CM = 300 [It could be changed according to real demands but should be smaller than effective measure range of LiDAR, unit is cm]

RNGFND1_GNDCLEAR = 15 [Unit: cm, depending upon mounting height of the module and should be bigger LiDAR than non-detection zone]

RNGFND1_ORIENT=0   [It depends on the LiDAR’s real installation direction, 0~7, 24=Up and 25=Down (total ten) are supported up to now, see detail in MP]

PRX_TYPE=4    [Rangefinder should be selected for proximity sensor in obstacle avoidance mode]

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad LiDAR Health” appears, please check if the connection is correct and the power supply is normal.

How to see the target distance from the LiDAR: (distance from LiDAR in obstacle avoidance can’t be displayed in sonarrange option) press Ctrl+F button in keyboard, the following window will pop out:

Click button Proximity, the following window will appear:

The number in green color means the distance from LiDAR in obstacle avoidance mode（the number only refresh when this window opens, closes, zooms in or zooms out, it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner version under v1.3.48, the problem could be solved by updating Mission Planner）

²  Attach: If TELEM 2 port has been used, SERIAL4/5 interface could be used, the other setting are same

Figure 2: Schematic Diagram of Connecting TFmini-S with SERIAL4/5 Interface (Serial Port 4/5) of PixHawk

Configuration Descriptions of Mission Planner:

Connect flight control board to MP, Select [Full Parameter List] in the left from the below bar [CONFIG/TUNING]. Find and modify following parameters:

SERIAL4_PROTOCOL = 9 (LiDAR)

SERIAL4_BAUD = 115

Upon setting of these parameters, the other parameters should be same as Mission Planner configuration description of TFmini-S for the purpose of Obstacle Avoidance or Altitude Holding, then click [Write Params] on the right of the software to finish.

TFmini-S can be used with PixHawk for the purpose of obstacle avoidance.

1. TFmini-SSettings:

Note: Frame rate should be set to 250Hz, see the details in chapter 7.4 “frame rate” and changing the communication interface.

The default communication of TFmini-S is TTL, IIC and TTL uses the same cable, so please set TFmini-S to IIC communication first, see detail commands in product manual.

We take two TFmini-S as an example in this passage and set the address 0x10 and 0x11 separately.

2. PixHawk Connection:

See the connection details in PixHawk manual and TFmini-S manual, we take example for connecting

PixHawk flight controller:

Figure 1: Schematic Diagram of Connecting TFmini-S to I2C Interface of PixHawk

Note：

1. Default cable sequence of TFmini-S and PixHawk are different, please change it accordingly (SDA and SCL wires need to be interchanged). Look at the pinout of controller, pin configurations are starting from left to right:

2. IIC connector should be purchased by user
3. If TFmini-S faces down, please take care the distance between lens and ground should be larger than TFmini-S’s blind zone (10cm)
4. If more TFmini-S need to be connected (10 LiDARs can be connected), the method is same.
5. Power source should meet the product manual demands:5V±0.5V, larger than 140mA*number of TFmini-S
6. Parameters settings:

Common settings:

AVOID_ENABLE= 2 [if 3 = UseFence and UseProximitySensor doesn’t work in IIC then choose 2 = UseProximitySensor]

AVOID_MARGIN=4

PRX_TYPE=4

Settings for first TFmini-S:

RNGFND1_ADDR=16 [Address of #1 TFmini-S in decimal]

RNGFND1_GNDCLEAR=15 [Unit: cm, depending upon mounting height of the module and should be larger LiDAR than non-detection zone]

RNGFND1_MAX_CM=400 [It could be changed according to real demands but should be smaller than
effective measure range of LiDAR, unit is cm] 

RNGFND1_MIN_CM=30 [It could be changed according to real demands and should be larger than
LiDAR non-detection zone, unit is cm] 

RNGFND1_ORIENT=0 [#1 TFmini-S real orientation]

RNGFND1_TYPE = 25 [TFmini-S IIC same as TFmini-Plus IIC]

Settings for second TFmini-S:

RNGFND2_ADDR=17 [Address of #2 TFmini-S in decimal]

RNGFND2_GNDCLEAR=15

RNGFND2_MAX_CM=400

RNGFND2_MIN_CM=30

RNGFND2_ORIENT=25 [#2 TFmini-S real orientation]

RNGFND2_TYPE=25 [TFmini-S IIC same as TFmini-Plus IIC]

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad LiDAR Health” appears, please check if the connection is correct and the power supply is normal.

How to see the target distance from the LiDAR: press Ctrl+F button in keyboard, the following window will pop out:

Click button Proximity, the following window will appear:

The number in green color means the distance from LiDAR in obstacle avoidance mode（the number only refresh when this window opens, closes, zooms in or zooms out, it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner version under v1.3.48, the problem could be solved by updating Mission Planner

TF-Luna can directly be connected with the serial port of Pixhawk. TF-Luna can be used in flight device

for the purpose of altitude holding or obstacle avoidance. This document is suitable to Pixhawk adopts ArduCopter V4.0.0 or higher firmware.

Example for connecting Pixhawk:

Figure 1 Schematic Diagram of Connecting TF-Luna with TELEM 2 Interface (Serial Port 2) of Pixhawk

a)MissionPlanner configuration description of TF-Luna for the purpose of altitude hold

Connect the flight control board to MP.Attention:the installation height should be bigger than non-detection zone.Select [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20    [It could be changed according to real demands and should be bigger LiDAR than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200      [It could be changed according to real demands but should be smaller than

effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [expressed in cm, depending upon mounting height of the module and

should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=25    [face down]

PRX_TYPE=0

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the altitude value from LiDAR sensor: double click the area of the Mission Planner, see the following picture:

Select option sonarrange,see following picture:

The altitude distance from the LiDAR will be displayed in Sonar Range(meters),see the following picture:

b)  MissionPlannerconfiguration description of TF-Luna for the purpose of Obstacle Avoidance

It’s only recommended to be used in Loiter mode, the detail setting is as followings:

Connect the flight control board to MP. Attention:distance between UAV margin and LiDAR should be bigger than LiDAR non-detection zone.  Select  [Full Parameter List] in the left from the below bar- [CONFIG/TUNING] . Find and modify the following parameters:

AVOID_MARGIN=3 [Unit: m, set obstacle avoidance distance as required]

SERIAL2_PROTOCOL = 9    [Rangefinder option]

SERIAL2_BAUD = 115    [Choose the current LiDAR baud rate,if haven’t been changed,the default baud rate 115200 should be selected,that is 115]

RNGFND_TYPE = 20    [Same option with TFmini]

RNGFND_MIN_CM = 20      [It could be changed according to real demands and should be bigger LiDAR

than non-detection zone,unit is cm]

RNGFND_MAX_CM = 200    [It could be changed according to real demands but should be smaller than effective measure range of LiDAR,unit is cm]

RNGFND_GNDCLEAR = 15    [Unit: cm, depending upon mounting height of the module and should be bigger LiDAR than non-detection zone]

RNGFND_ORIENT=0      [It depends on the LiDAR’s real installation direction,0~7 is supported up to

now,see detail in MP]

PRX_TYPE=4        [RangeFinder should be selected for proximity sensor in obstacle avoidance mode]

Upon setting of these parameters, click [Write Params] on the right of the software to finish.

If the error message “Bad Lidar Health” appears, please check if the connection is correct and the power supply is normal, then restart Pixhawk.

How to see the target distance from the LiDAR:(distance from LiDAR in obstacle avoidance can’t be displayed in sonarrange option )press Ctrl+F button in keyboard,the following window will pop out:

Click button Proximity,the following window will appear: 

The number in green color means the distance from LiDAR in obstcle avoidance mode  (the number only refresh when this window open,close,zoom in or zoom out,it doesn’t mean the real time distance from LiDAR and will not be influenced in Mission Planner version under v1.3.48,the problem could be solved by updating Mission Planner)

Attach:If TELEM 2 port has been used ,SERIAL4/5 interface could be used,the other setting are same

Figure 2 Schematic Diagram of Connecting TF-Luna with SERIAL4/5 Interface (Serial Port 4/5) of Pixhawk

Configuration Descriptions of Mission Planner

Connect  flight  control  board  to  MP,  Select  [Full  Parameter  List]  in  the  left  from  the  below  bar [CONFIG/TUNING] . Find and modify following parameters:

SERIAL4_PROTOCOL = 9 (LiDAR)

SERIAL4_BAUD = 115

Upon setting of these parameters, the other parameters should be same as Mission Planner configuration description of TF-Luna for the purpose of Obstacle Avoidance or Altitude Holding,then click [Write Params] on the right of the software to finish.