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It comes preconfigured in binary output at 115200 Bauds and we can change the mode by issuing these commands through the Benewake console (http://benewake.com/en/down.html36) or using Realterm:
The command of standard output is 42 57 02 00 00 00 01 06
The command of pix format output is 42 57 02 00 00 00 04 06
See [https://discuss.ardupilot.org/t/how-to-make-the-tfmini-rangefinder-talk-i2c/24403]
= Datasheet =
<pdf>File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf</pdf>