Benewake TF02-Pro / TF03 / TFS20-L / TF-Luna / TF-Nova / TF350

Benewake provides a range of lidar sensors that use proprietary serial and/or CAN interfaces

Lidar Specifications (some ranges are estimates)

Model	Range (Indoor/Outdoor)	Weight	Voltage	FOV	Interface
TF02 (discontinued)	22m / 10m	52g	5V	3 deg	UART
TF02-Pro	40m / 13.5m	50g	5V~12V	3 deg	UART
TF02-i	40m / 13.5m	60g	7V~30V	3 deg	CAN
TF03	100m / 50m	89g	5V~24V	0.5 deg	UART, CAN
TFS20-L	20m / 15m	2g	3.3V	2 deg	UART
TF-Luna	8m / 3m	5g	3.7V~5.2V	2 deg	UART
TF-Nova	14m / 7m	5g	5V	14 deg	UART
TF350	350m / 150m	224g	5V~24V	0.35 deg	UART, CAN

More details on these lidar can be found in the benewake.com’s downloads area

Where to Buy

• Benewake.com Distributors including 3DXR and Unmanned Tech UK

• Benewake’s store on Alibaba.com

Connecting via Serial

For a serial connection you can use any spare Serial/UART port. The diagram below shows how to connect a TF02 to Serial2. Please note that wire colours may vary by model so please check the datasheet

The diagram below shows how to connect a TF03 to Serial2

The diagram below shows how to connect a TF-Nova to Serial2

If SERIAL2 is being used then the following parameters should be set for the first rangefinder:

• SERIAL2_PROTOCOL = 9 (Lidar)

• SERIAL2_BAUD = 115 (115200 baud)

• RNGFND1_TYPE = 19 (Benewake TF02) for TF02, 27 (Benewake TF03) for TF02-Pro, TF03, TFS20-L, TF-Luna, TF-Nova, TF350

• RNGFND1_MIN = 0.1

• RNGFND1_MAX: for TF02 use 20 for indoor, 10 for outdoor. For TF03 use 100 for indoor, 50 for outdoor. Please see table at top of this page for other sensors. This is the distance in meters that the rangefinder can reliably read.

• RNGFND1_GNDCLR = 0.1 or more accurately the distance in metres from the range finder to the ground when the vehicle is landed. This value depends on how you have mounted the rangefinder.

Connecting via CAN

The TF02-i, TF03, TFmini-i and TF350 can be connected to the autopilot via CAN1. The diagram below shows how to connect a TF03 to CAN1. Please note that wire colours may vary by model so please check the datasheet.

If CAN1 is used then set the following parameters:

• CAN_P1_DRIVER = 1 (First driver)

• CAN_D1_PROTOCOL = 11 (Benewake)

• RNGFND1_TYPE = 34 (Benewake CAN)

• RNGFND1_MIN = 0.1

• RNGFND1_MAX: for TF02-i use 40 for indoor, 13 for outdoor. For TF03 use 100 for indoor, 50 for outdoor. Please see table at top of this page for other sensors. This is the distance in meters that the rangefinder can reliably read.

• RNGFND1_GNDCLR = 0.1 or more accurately the distance in metres from the range finder to the ground when the vehicle is landed. This value depends on how you have mounted the rangefinder.

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 “rangefinder1”.