Benewake TFmini Plus - Page 17

SJ-PM-TFmini Plus-T-01 A01 Benewake (Beijing) Co. Ltd.
Page17
can send the relevant configuration-related instructions to the product via TFmini Plus PC software or other
serial port debugging software. Important: After setting parameters, the ‘Save setting’ command needs
to be sent.
Table 8 General Parameter Configuration and Description
Parameters Command Response Remark Default setting
Obtain
firmware
version
5A 04 01 5F 5A 07 01 V1 V2 V3 SU Version V3.V2.V1
System reset 5A 04 02 60
5A 05 02 00 60 Succeeded
5A 05 02 01 61 Failed
Frame rate 5A 06 03 LL HH SU 5A 06 03 LL HH SU 1-1000Hz
①
100Hz
Trigger
detection
5A 04 04 62 Data frame
After setting the frame
rate to 0，detection can
be triggered with this
command
Output format
5A 05 05 01 65 5A 05 05 01 65 Standard 9 bytes(cm) √
5A 05 05 02 66 5A 05 05 02 66 Pixhawk
②
/
5A 05 05 06 6A 5A 05 05 06 6A Standard 9 bytes(mm) /
Baud rate 5A 08 06 H1 H2 H3 H4 SU 5A 08 06 H1 H2 H3 H4 SU Set baud rate
③
115200
Enable/Disabl
e output
5A 05 07 00 66 5A 05 07 00 66 Disable data output /
5A 05 07 01 67 5A 05 07 01 67 Enable data output √
Restore
factory
settings
5A 04 10 6E
5A 05 10 00 6E Succeeded
5A 05 10 01 6F Failed
Save settings
④
5A 04 11 6F
5A 05 11 00 6F Succeeded
5A 05 11 01 70 Failed
Note:Bytes with yellow undertone represents checksum. Bytes with blue undertone represents data segment.
① The default update rate is 100Hz. The customized update rate should be calculated by the formula: 1000/n (n is positive
integer). Increasing frame rate will decrease the data stability.
② In Pixhawk mode, the default output data is decimal string.
③ Only standard baud rates are supported. When setting a high update rate, a high baud rate is recommended to ensure data
security.
④ Please always send the command of save settings when try to modify parameters of TFmini Plus, otherwise the settings
will not take effect.