The Benewake TFmini LiDAR is a tiny, low cost, and low power LIDAR with 12m range. It must be connected to a UART/serial bus.
TFmini can be connected to any unused serial port (UART), e.g.: TELEM2, TELEM3, GPS2 etc.
If the configuration parameter is not available in QGroundControl then you may need to add the driver to the firmware: