Benewake TFmini lidar

The Benewake TFmini lidar is a very light weight (5g) lidar with a maximum range of about 7m. More specifications can be found here.



These instructions are a work-in-progress and have not yet been fully verified by the development team

Where to Buy

Connecting to the Flight Controller

For a serial connection you can use any spare Serial/UART port. The diagram below shows how to connect to SERIAL4.


If the SERIAL4/5 port on a Pixhawk is being used then the following parameters should be set:

If instead the Telem2 port was used then the serial parameters listed above should instead be:

Testing the sensor

Distances read by the sensor can be seen in the Mission Planner’s Flight Data screen’s Status tab. Look closely for “sonarrange”.