# 1. Cyphal/DroneCAN Rangefinder
The Rangefinder node is an adapter for i2c/uart rangefinders. After reading measurements it sends data through Cyphal & DroneCAN networks. The node supports the following sensors:
| LW20/C (i2c) | TF-Luna (uart) | Garmin lite v3 (i2c) | vl53l0x (i2c) | vl53l1cb (i2c) |
|---|---|---|---|---|
 |  |  |  |  |
# 1.1. Variations
It is expected to use specifically Adapter v3 and uRangefinder v3 boards shown on the table below, but a other nodes such as Mini v2 node (opens new window) can be used as well.
| Adapter v3.1 | uRangefidner v3.0 (vl53l1cb) | Mini v2.1.1 |
|---|---|---|
 |  |  |
| 22 x 33 x 11.7 | 14.5 x 23.0 x 7.8 | 42.4 x 34.6 x 14.3 |
# 1.2. Firmware
Cyphal & DroneCAN firmware
| Version | Description |
|---|---|
| v1.6.2_a18ac959 (opens new window) Dec 04, 2023 | - Add vl53l0x support - Add HW version estimator |
| v1.6.1_9d466be (opens new window) Dec 04, 2023 | Cyphal&DroneCAN firmware first release |