The class of ToF (Time-of-Flight) sensors in the medium range (≤4 m) on I²C. Unlike UART lidar (TF-Luna, TFMini), they are short-range and cheap, and can be assembled into an array around the drone for 360° indoor coverage.
Subhubs
| Section | Sensor | Range | Interface |
|---|---|---|---|
| VL53L0X | ST VL53L0X | 30 mm – 2000 mm | I²C (0x29 default, settable) |
| VL53L1X (TBD) | ST VL53L1X | 40 mm – 4000 mm | I²C |
| TF-Luna (different class) | Benewake | 0.2 – 8 m | UART / I²C → /drone/hardware/sensors/lidar/tf-luna |
Multi-sensor arrays
For 360° coverage, 4-6 ToFs are typically placed around the frame. Difficulties: I²C address conflict, multiplexer vs XSHUT, sampling rate. See VL53L0X array design.