LIDAR-Lite is a compact, high-performance optical distant measurement sensor solution for drone, robot or unmanned vehicle applications. It can be connected to either I2C or PWM.

LidarLite v3

Where to Buy


The Lidar-Lite v3 can be used with either PWM or I2C. PWM is recommended if using an older model.

The I2C interface of non-blue-label Lidar-Lite (v1) devices has stability limitations and all silver-label generations of Lidar-Lite sensors are therefore excluded from the I2C interface. The use of the PWM interface (as detailed below) is advised for these sensors. The blue label (v2) devices can exhibit a constant offset if powered on with less than 5V under some conditions. This is currently (Q4/2015) under investigation by the manufacturer and potentially can be resolved by adhering to specific operational conditions. The recommended robust setup is a v1 device interfaced via PWM.

The servo must be separately powered via some ESC/BEC (whether connected via PWM or I2C).

PWM Interface Wiring

Lidar Lite 2 Interface wiring

Pixhawk AUX servo pin Lidar-Lite pin Comment
AUX row 5 (bottom) 3 / PWM PWM input of the Lidar Lite. Needs a 470 Ohm pull-down (to GND)
AUX row 6 (center) 1 / +5V Power supply
AUX row 6 (top) 6 / GND Ground
AUX row 6 (bottom) 2 / RESET Reset line of the sensor

Lidar Lite 2 Interface wiring

Lidar Lite 2 pins/cabling

I2C Interface Wiring


Software Configuration

The rangefinder/port is enabled using SENS_EN_LL40LS - set to 1 for PWM, or 2 for I2C.

The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (drivers/ll40ls) to the board configuration..

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-07-20 01:45:09

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