The TF Mini LiDAR is an unidirectional range finder based on time-of-flight (ToF) via IR LED technology. It uses adaptive algorithms for indoor and outdoor application environment. The sensor can be used as a distance-measuring tool to detect the distance to surfaces, suitable for AGL hold and terrain following. The maximum detection distance is 12 meters. The device supports 100Hz sampling rate. To be able to use the I2C version of the TFmini ranger, enable this module in your airframe and set you wanted parameters. i2c sonar