Holybro ST VL53L1X Lidar

The ST VL53L1X LiDAR from Holybro is a compact laser ranging sensor utilizing STMicroelectronics' Time-of-Flight (ToF) technology. Time-of-Flight (ToF) measures the time it takes infrared light to reach an object and return to the sensor. This allows the device to directly measure distance, rather than estimating it solely based on the intensity of the reflected light.

The module is based on the STMicroelectronics VL53L1X sensor from the FlightSense™ family. It includes an invisible infrared light emitter with a wavelength of 940 nm, a SPAD (Single Photon Avalanche Diode) receiver array with optical system, and an integrated microcontroller for data processing. The laser is classified as Class 1 according to IEC 60825-1:2014.

Basic Specifications

The Holybro module offers:

Maximum declared measurement range: up to 4 m,
Measurement frequency: up to 50 Hz,
Communication interface: I²C, up to 400 kHz,
Typical full field of view (FOV): approximately 27°,
Programmable ROI (Region of Interest) allowing the field of view to be limited and its position changed,
Power supply voltage of the Holybro module: 3.3–5 V,
Dimensions of the Holybro module: 25 × 10.7 × 3.2 mm,
Weight: 2.4 g.

It is important to distinguish the parameters of the finished Holybro module from those of the ST VL53L1X integrated circuit itself. The ST sensor itself operates at a voltage of approximately 2.6–3.5 V, while the Holybro-made board is designed for a 3.3–5 V power supply.

Available Models and Operating Modes

Holybro currently offers this product as a single hardware variant – the ST VL53L1X Lidar, SKU 19004. The manufacturer's website does not offer options for selecting the version, range, or interface.

The VL53L1X itself can operate in three software-selectable distance modes:

Short – short range, greater resistance to strong ambient light,
Medium – intermediate mode,
Long – maximized range, up to approximately 4 m in appropriate conditions.

These are not separate device models, but configurations of the same sensor. For example, ST states, for specific test conditions, a maximum range of approximately 1.36 m in Short mode, 2.9 m in Medium mode, and 3.6 m in Long mode in dark environments. In strong light, the capabilities of the Medium and Long modes may be significantly limited.

Applications

The VL53L1X can be used for:

measuring the height of drones above the ground,
assisting landing and hovering,
detecting ceilings or other obstacles,
object detection by mobile robots,
presence and proximity systems,
simple obstacle avoidance systems,
distance measurement in automation and IoT systems.

STMicroelectronics explicitly lists applications related to drones, service robots, building automation, presence detection, and simple gesture recognition.

Measurement Limitations

The declared range of 4 m should not be considered a guaranteed range under all conditions. The range depends on factors such as ambient light level, the operating mode selected, measurement time, and target characteristics.

ST's documentation indicates that strong ambient light can significantly reduce the maximum range, especially in Long mode. ArduPilot also identifies the VL53L1X as a sensor well-suited for indoor applications and warns that in bright sunlight, both range and precision degrade significantly.

Software Required for Operation

The VL53L1X does not require its own computer application to operate. It is an I²C sensor controlled by a master device – such as a flight controller, microcontroller, or single-board computer. This master device must have the appropriate VL53L1X driver.

The required software depends on how the device will be used.

1. Pixhawk / PX4

The Holybro VL53L1X is designed, among other things, for use with flight controllers. The PX4 documentation lists it directly as a supported distance sensor. The module has a 4-pin connector compatible with the I²C port on devices such as the Pixhawk 4 and Pixhawk 5X, as well as other controllers compliant with the Pixhawk connector standard.

The PX4 firmware includes the native vl53l1x driver, so no additional software or ST library is required for operation with a compatible flight controller. I²C communication and distance reading are handled by the autopilot firmware.

QGroundControl can be used to configure the autopilot, but QGroundControl is not a VL53L1X controller – it is the Ground Control Station application used to configure and operate the PX4 system.

2. ArduPilot

The VL53L1X is also officially supported by ArduPilot as a distance sensor. Connect the power, GND, SDA, and SCL lines to the flight controller's I²C bus. Sensor parameters can be configured using Ground Control Station software, such as Mission Planner.

In this case, there's no need to install a separate program directly for the Holybro module – sensor support is provided by the ArduPilot firmware.

3. Proprietary Microcontroller or Embedded System

If the module is to be used outside of the PX4 or ArduPilot, the manufacturer of the system, STMicroelectronics, provides official programming libraries.

The basic option is:

STSW-IMG009 – VL53L1X ULD API (Ultra Lite Driver)

This is an optimized driver written in C. It includes functions that enable:

initializing the VL53L1X,
starting and stopping measurements,
reading distances,
configuring sensor operating parameters.

The driver has been designed to be portable between various microcontroller platforms via the I²C communication layer. ST states that the Ultra Lite version consists of four files and takes up approximately 2.3 KB of Flash memory.

A full library is also available:

STSW-IMG007 – VL53L1X Full API

This is a complete set of C functions providing access to sensor functions, such as initialization, distance measurement, and parameter configuration. The library also includes sample code and API documentation.

For new, small-scale embedded implementations, the STSW-IMG009 Ultra Lite Driver is usually a more practical choice, while the Full API can be used where broader access to sensor functions is required.

4. ST Software for PC

ST also provides STSW-IMG008, a graphical Windows-based software for the VL53L1X. However, it is not required for normal operation of the Holybro module. This tool was developed primarily for the ST P-NUCLEO-53L1A1 evaluation kit. Therefore, it should not be considered a standard configuration program for the Holybro VL53L1X module.