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 (Min/Max)	Weight	Voltage	FOV	Interface
TF02 (discontinued)	0.22m / 10m	52g	5V	3 deg	UART
TF02-Pro	0.40m / 13.5m	50g	5V~12V	3 deg	UART
TF02-i	0.40m / 13.5m	60g	7V~30V	3 deg	CAN
TF03	1m / 50m	89g	5V~24V	0.5 deg	UART, CAN
TFS20-L	0.20m / 15m	2g	3.3V	2 deg	UART
TF-Luna	0.80m / 3m	5g	3.7V~5.2V	2 deg	UART
TF-Nova	0.14m / 7m	5g	5V	14 deg	UART
TF350	3.5m / 150m	224g	5V~24V	0.35 deg	UART, CAN

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

Where to Buy

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

• Benewake’s store on Alibaba

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 use the following parameters to set the first rangefinder:

• SERIAL2_PROTOCOL = 9 (Lidar)

• SERIAL2_BAUD = 115 (115200 baud)

• RNGFND1_TYPE = 19 (BenewakeTF02) for TF02, 27 (BenewakeTF03) for TF02-Pro, TF03, TFS20-L, TF-Luna, TF-Nova, TF350.

• RNGFND1_MIN = Use a distance the rangefinder could reliably read in [metres]. For TF02: 0.22, for TF03: 1, or look up the top table of this page for other sensors.

• RNGFND1_MAX = Use a distance the rangefinder could reliably read in [metres]. For TF02: 10, for TF03: 50, or look up the top table of this page for other sensors.

• RNGFND1_ORIENT = 25 (Down) Indicates the position the rangefinder is set to read.

• RNGFND1_GNDCLR = 0.1 An accurate distance in [metres] from the rangefinder 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 CAN. 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 = Use a distance the rangefinder could reliably read in [metres]. For TF02-i: 0.4, for TF03: 1, or look up the top table of this page for other sensors.

• RNGFND1_MAX = Use a distance the rangefinder could reliably read in [metres]. For TF02-i: 13.5, for TF03: 50, or look up the top table of this page for other sensors.

• RNGFND1_ORIENT = 25 (Down) Indicates the position the rangefinder is set to read.

• RNGFND1_GNDCLR = 0.1 An accurate distance in [metres] from the rangefinder to the ground when the vehicle is landed. This value depends on how you have mounted the rangefinder.

Note

Check the information at Sensor Position Offset Compensation in order to configure the position where the range finder is installed.

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”.