User Manual

SJ-PM-TFmini-T-01 A03
Benewake (Beijing) Co. Ltd.
Page17
Explanation:
① The standard data output format is given in Table 6. “Pixhawk” data format is mainly used for the
connection of Pixhawk, under which the data output is decimal string.
② This configuration is mainly used for the adjustment of the output frequency of product. Note that the
value of EE FF must be integral multiple of 10; otherwise the command will be invalid. The output
frequency is 100Hz (one output per 10 ms ) at max, and the minimum frequency is one output per
65530 ms. This configuration will not affect the real detection frequency of the hardware, but it only
represents the frequency of data output. So the goal of power saving can’t be achieved by the means
of such instruction.
③ The unit of distance output generally is cm by default and can be modified into mm. With the unit
modified into mm, the distance change at level of mm is available, allowing the product to be
applicable for the scenario with a single detection object and high accuracy requirement.
④ TFmini is built in with two distance modes which are automatically switchable by default. As there is
a larger error during the automatic switchover of the two modes, the user may choose fixed detection
pattern if there are high accuracy requirement within the limited measurement range. During the usage,
please input the command for the fixed detection pattern at first and then send configuration instruction
of the distance mode. The long/short distance mode configuration will become invalid once the TFmini
starts the automatic switchover of distance modes. Note that for different versions of the firmware (15X
means firmware whose firmware version number ends with 15X such as 152, 156, etc; 16X means
firmware whose firmware version number ends with 16X such as 160, 162, etc.), and the mode
configuration commands are different.
⑤ The range output limit is 12 meters and it is enabled by default. When the limit is disabled, the
measurement data in the range of 0-15m can be output. However, the data above 12m is fitting data
with significant error. So the range limit are modifiable by the user depending upon the demands.
Upon the modification, the set threshold will be output if the measurement data more than such
threshold
⑥ The setting of minimum signal strength threshold will be valid only if ⑤ is enabled, and it is 20 by
default, which means that the distance value will output FF FF if the Strength is less than 20. The user
may increase such threshold in order to improve reliability of the distance measurement value. But
note that the maximum threshold should be no more than 80; otherwise the LiDAR may not operate
normally. Correspondingly the threshold may be decreased in order to improve the measurement range
of TFmini.
⑦ The setting of the maximum signal strength threshold will be valid only if ⑤ is enabled. Such
function is used when the user wants to set a fixed value for the near distance object detection. For
e.g.:If the user has to use the TFmini within its blind area, this command can be input and then the
output value of the blind area will be set to a fixed value in order to maintain a stable data.