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

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The Lidar-Lite (v2, v3) pinout is shown below.

Pin Name Description
1 POWER_IN Power supply. 4.75-5.5V DC Nominal, Maximum 6V DC.
2 POWER_EN Active high, enables operation of the 3.3V micro-controller regulator. Low puts board to sleep, draws <40 μA. (Internal 100K pull-up)
3 Mode Select Control Provides trigger (high-low edge) PWM out (high)
4 SCL I2C Clock
5 SDA I2C Data
6 GND Signal/power ground.


The Lidar-Lite v3 can be used with either PWM or I2C. PWM is recommended if using an older model. The rangefinder must be separately powered via some ESC/BEC (whether connected via PWM or I2C).

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 standard wiring instructions for Lidar-Lite 3 (from the Operation Manual) are shown below. Lidar-Lite v2 and v3 are the same, except that the order of pins in the connector is reversed (i.e. it is as though the connector was turned over).

LidarLite v3 - Standard Wiring from Garmin Specification

PWM Interface Wiring

The pin connections for wiring LidarLite to the Pixhawk 1 AUX ports (PWM interface) are shown below.

Pin Lidar-Lite (v2, v3) Pixhawk AUX Servo Comment
1 VCC AUX 6 (center) Power supply. 4.75-5.5V DC Nominal, Maximum 6V DC.
2 RESET AUX 6 (bottom) Reset line of the sensor
3 PWM AUX 5 (bottom) PWM input of the Lidar Lite. Needs a 470 Ohm pull-down (to GND), Do not use a 1 K0hm resistor.
4 SCL - Not connected
5 SDA - Not connected
6 GND AUX 6 (top) Ground

The wiring for LidarLite v2 is shown below. Lidar-Lite v3 is wired similarly, except that the pin-numbering on the connector is reversed.

Lidar Lite 2 Interface wiring

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.

Further Information

© PX4 Dev Team. License: CC BY 4.0            Updated: 2024-02-13 22:49:01

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