# TeraRanger Rangefinders
TeraRanger provide a number of lightweight distance measurement sensor based on infrared Time-of-Flight (ToF) technology. They are typically faster and have greater range than sonar, and smaller and lighter than laser-based systems.
- TeraRanger One (opens new window) (0.2 - 14 m) (Requires an I2C adapter (opens new window))
- TeraRanger Evo 60m (opens new window) (0.5 – 60 m)
- TeraRanger Evo 600Hz (opens new window) (0.75 - 8 m)
The Terranger One is used in the Qualcomm Snapdragon Flight.
All TeraRanger sensors must be connected via the I2C bus.
While TeraRanger One requires an I2C adapter (opens new window) any sensor from TeraRanger Evo series can be connected directly to the autopilot.
The sensors are enabled using the parameter SENS_EN_TRANGER (you can set the type of sensor or that PX4 should auto-detect the type).
If using auto-detect for Evo sensors the minimum and maximum values for the range are set to the lowest and highest possible readings across the Evo family (currently 0.5 - 60 m). In order to use the correct max/min values the appropriate model of the Evo sensor should be set in the parameter (instead of using autodetect).
The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (
distance_sensor/teraranger) to the board configuration.