At Terabee we did some intensive experiments with TeraRanger Tower and Pixhawk running ArduCopter. The purpose of the experiment was to explore the obstacle avoidance indoors using rangefinders only.
In our setup we used TeraRanger Tower with 8 sensors (in a separate test we used 4 sensors in a + configuration. It worked flawlessly) and a single TeraRanger Evo looking down as an altimeter (without GPS the obstacle avoidance works in altitude hold mode).
One of the things we learned … Read the rest