# 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
Mini v2.1.1
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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