Our LiDAR is best suited for detecting obstacles and making 2D maps on moving vehicles - that is to say birds eye view maps of obstacles. In order to make terrain maps, it would need to be mounted horizontally. A likely scenario might be using two LiDAR sensors, one mounted vertically to detect surrounding obstacles, and another mounted horizontally to detect the ground surface. The accuracy of our sensor is around 1% of the measured distance. The data rate is up to 1000 samples/second, and we recommend running the sensor at around a 3Hz scan rate. This gives you about 333 points per 360 degree scan, with an angular resolution of 1.08 degrees. Depending on how accurate you want your ground model to be, you would need to fly the drone slowly over the terrain. If you were flying lets say 3 meters off the ground and moving forward around 17cm per second (0.4 miles per hour), the typical 1.08 degree angular resolution would give you points about every 5.6cm.