How to work with pixhawk : https://discuss(dot)ardupilot(dot)org/t/avoidance-experiments-with-the-poc-and-benewake-tfmini/25277;How to use with raspberry pi: https://github(dot)com/TFmini
Communication interface : UART/I2C, Default: UART. If you need I2C, pls send configuration commands to set (After connection enter: 5A 05 0A MODE SU where MODE = 0 (UART) or 1 (IIC) and SU stands for checksum. Important: After sending the parameter configuration command, be sure to send the "Save Configuration (5A 04 11 6F)" command, otherwise the parameters will be reset when the product is connected again.)