Basic Obstacle Avoidance for Holybro X500 V2

Hi there,

I am working with a Holybro X500 V2 and a Pixhawk 6C right now. I want to implement some basic obstacle avoidance just that the drone does not fly into a object right in front of it. Right now I am using the VL53L1X Lidar (ST VL53L1X Lidar – Holybro Store). However, it’s measurements are pretty noisy and the range is also pretty limited. Does someone have experience with a different LiDAR sensor that works with the FCU? Thanks for your insights.

Cheers

EDIT: It would also be nice if the proposed Sensor was also available in SITL to test the obstacle avoidance algorithm.