YDLIDAR X4 PRO is a 360 degrees two-dimensional rangefinder (hereinafter referred to as X4PRO) developed by EAI team. Based on the principle of triangulation, it is equipped with related optics, electricity, and algorithm design to achieve high-frequency and high- accuracy distance measurement. The mechanical structure rotates 360 degrees to continuously output the angle information as well as the point cloud data of the scanning environment while ranging.
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{"id":8738140782909,"title":"YDLIDAR X4 Pro Lidar – 360-degree Laser Range Scanner (10 m), Supports ROS","handle":"ydlidar-x4-pro-lidar-360-degree-laser-range-scanner-10-m-supports-ros","description":"\u003cp data-mce-fragment=\"1\"\u003eYDLIDAR X4 PRO is a 360 degrees two-dimensional rangefinder (hereinafter referred to as X4PRO) developed by EAI team. Based on the principle of triangulation, it is equipped with related optics, electricity, and algorithm design to achieve high-frequency and high- accuracy distance measurement. The mechanical structure rotates 360 degrees to continuously output the angle information as well as the point cloud data of the scanning environment while ranging.\u003cbr\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003c\/p\u003e\n\u003ch2\u003e\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003eFeatures\u003c\/strong\u003e:\u003c\/span\u003e\u003c\/h2\u003e\n\u003cul data-mce-fragment=\"1\"\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003e360 degrees omnidirectional scanning ranging distance measurement \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eSmall distance error, stable performance and high accuracy \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eWide ranging distance \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eStrong resistance to ambient light interference \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eLow power consumption, small size and long service life \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eLaser power meets Class I laser safety standards \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eAdjustable motor speed, scanning frequency is 6~12Hz \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eHigh-speed ranging, ranging frequency up to 5kHz\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003e \u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003ch2\u003e\n\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003eApplication\u003c\/strong\u003e:\u003c\/span\u003e\u003cbr data-mce-fragment=\"1\"\u003e\n\u003c\/h2\u003e\n\u003cul data-mce-fragment=\"1\"\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRobot navigation and obstacle avoidance \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRobot ROS teaching and research \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRegional security \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eEnvironmental scanning and 3D reconstruction \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eNavigation and obstacle avoidance of robot vacuum cleaner\/ROS Learning robot\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch2\u003e\u003cstrong data-mce-fragment=\"1\"\u003e \u003c\/strong\u003e\u003c\/h2\u003e\n\u003ch2\u003e\n\u003cstrong data-mce-fragment=\"1\"\u003eDownload\u003c\/strong\u003e\u003cbr data-mce-fragment=\"1\"\u003e\n\u003c\/h2\u003e\n\u003cul\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=1\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=1\"\u003eDatasheet\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=2\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=2\"\u003eUser Manual\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=3\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=3\"\u003eDevelopment Manual\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=4\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=4\"\u003eSDK\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=5\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=5\"\u003eTools\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=6\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=6\"\u003eROS Driver and Software\u003c\/a\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch2\u003eSpecifications:\u003c\/h2\u003e\n\u003ctable style=\"width: 60%;\"\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eFrequency Range\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e5000\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eOperating Distance Range (Meter)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e.12-10\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eScanning frequency (Hz)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e6-12\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eField of view\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e0-360\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eAbsolute error (cm)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e2\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eRelative error\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e3.5%\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eAngle resolution\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e0.43(frequency@6Hz – 0.86(frequency@12Hz)\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eShipment Weight\u003c\/td\u003e\n\u003ctd class=\"product_weight attribute_value\"\u003e\n\u003cp\u003e0.178 kg\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"\"\u003e\n\u003ctd\u003eShipment Dimensions\u003c\/td\u003e\n\u003ctd class=\"product_dimensions attribute_value\"\u003e\n\u003cp\u003e11 × 7 × 5 cm\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003cimg src=\"https:\/\/o.lnwfile.com\/_\/o\/_raw\/um\/t4\/rp.png\" width=\"700\" data-mce-fragment=\"1\" data-mce-src=\"https:\/\/o.lnwfile.com\/_\/o\/_raw\/um\/t4\/rp.png\"\u003e\u003c\/p\u003e","published_at":"2023-09-22T17:13:38+05:30","created_at":"2023-09-22T17:06:47+05:30","vendor":"YD Lidar","type":"Sensor","tags":["collision avoidance","ELC1","Laser","Laser module","laser ranging","laser ranging sensor","Laser sensor","Lidar","Lidar case","LIDAR sensor","LIDAR-MOD","LIDAR-SEN","navigation sensor","ROS sensor","RP LIDAR","X2L","Y2LIDAR","Y2LIDAR X2","YDLDR","ZOHO UPDATED"],"price":799999,"price_min":799999,"price_max":799999,"available":false,"price_varies":false,"compare_at_price":999999,"compare_at_price_min":999999,"compare_at_price_max":999999,"compare_at_price_varies":false,"variants":[{"id":46890729734461,"title":"Default Title","option1":"Default Title","option2":null,"option3":null,"sku":"ELC1137","requires_shipping":true,"taxable":true,"featured_image":null,"available":false,"name":"YDLIDAR X4 Pro Lidar – 360-degree Laser Range Scanner (10 m), Supports ROS","public_title":null,"options":["Default Title"],"price":799999,"weight":300,"compare_at_price":999999,"inventory_management":"shopify","barcode":"ELC1137","requires_selling_plan":false,"selling_plan_allocations":[]}],"images":["\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro-2.jpg?v=1695383231","\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro.jpg?v=1695383231","\/\/thinkrobotics.com\/cdn\/shop\/files\/X4Pro.png?v=1695383266"],"featured_image":"\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro-2.jpg?v=1695383231","options":["Title"],"media":[{"alt":null,"id":35065295110461,"position":1,"preview_image":{"aspect_ratio":1.0,"height":1132,"width":1132,"src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro-2.jpg?v=1695383231"},"aspect_ratio":1.0,"height":1132,"media_type":"image","src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro-2.jpg?v=1695383231","width":1132},{"alt":null,"id":35065295175997,"position":2,"preview_image":{"aspect_ratio":1.0,"height":1385,"width":1385,"src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro.jpg?v=1695383231"},"aspect_ratio":1.0,"height":1385,"media_type":"image","src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/x4-pro.jpg?v=1695383231","width":1385},{"alt":null,"id":35065307169085,"position":3,"preview_image":{"aspect_ratio":1.0,"height":1000,"width":1000,"src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/X4Pro.png?v=1695383266"},"aspect_ratio":1.0,"height":1000,"media_type":"image","src":"\/\/thinkrobotics.com\/cdn\/shop\/files\/X4Pro.png?v=1695383266","width":1000}],"requires_selling_plan":false,"selling_plan_groups":[],"content":"\u003cp data-mce-fragment=\"1\"\u003eYDLIDAR X4 PRO is a 360 degrees two-dimensional rangefinder (hereinafter referred to as X4PRO) developed by EAI team. Based on the principle of triangulation, it is equipped with related optics, electricity, and algorithm design to achieve high-frequency and high- accuracy distance measurement. The mechanical structure rotates 360 degrees to continuously output the angle information as well as the point cloud data of the scanning environment while ranging.\u003cbr\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003c\/p\u003e\n\u003ch2\u003e\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003eFeatures\u003c\/strong\u003e:\u003c\/span\u003e\u003c\/h2\u003e\n\u003cul data-mce-fragment=\"1\"\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003e360 degrees omnidirectional scanning ranging distance measurement \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eSmall distance error, stable performance and high accuracy \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eWide ranging distance \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eStrong resistance to ambient light interference \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eLow power consumption, small size and long service life \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eLaser power meets Class I laser safety standards \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eAdjustable motor speed, scanning frequency is 6~12Hz \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eHigh-speed ranging, ranging frequency up to 5kHz\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003e \u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003ch2\u003e\n\u003cspan data-mce-fragment=\"1\"\u003e\u003cstrong data-mce-fragment=\"1\"\u003eApplication\u003c\/strong\u003e:\u003c\/span\u003e\u003cbr data-mce-fragment=\"1\"\u003e\n\u003c\/h2\u003e\n\u003cul data-mce-fragment=\"1\"\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRobot navigation and obstacle avoidance \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRobot ROS teaching and research \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eRegional security \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eEnvironmental scanning and 3D reconstruction \u003c\/span\u003e\u003c\/li\u003e\n\u003cli data-mce-fragment=\"1\"\u003e\u003cspan data-mce-fragment=\"1\"\u003eNavigation and obstacle avoidance of robot vacuum cleaner\/ROS Learning robot\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch2\u003e\u003cstrong data-mce-fragment=\"1\"\u003e \u003c\/strong\u003e\u003c\/h2\u003e\n\u003ch2\u003e\n\u003cstrong data-mce-fragment=\"1\"\u003eDownload\u003c\/strong\u003e\u003cbr data-mce-fragment=\"1\"\u003e\n\u003c\/h2\u003e\n\u003cul\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=1\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=1\"\u003eDatasheet\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=2\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=2\"\u003eUser Manual\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=3\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=3\"\u003eDevelopment Manual\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=4\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=4\"\u003eSDK\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=5\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=5\"\u003eTools\u003c\/a\u003e\u003c\/li\u003e\n\u003cli\u003e\u003ca href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=6\" data-mce-fragment=\"1\" target=\"_blank\" data-mce-href=\"https:\/\/www.ydlidar.com\/dowfile.html?cid=21\u0026amp;type=6\"\u003eROS Driver and Software\u003c\/a\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch2\u003eSpecifications:\u003c\/h2\u003e\n\u003ctable style=\"width: 60%;\"\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eFrequency Range\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e5000\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eOperating Distance Range (Meter)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e.12-10\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eScanning frequency (Hz)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e6-12\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eField of view\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e0-360\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eAbsolute error (cm)\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e2\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eRelative error\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e3.5%\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eAngle resolution\u003c\/td\u003e\n\u003ctd\u003e\n\u003cp\u003e0.43(frequency@6Hz – 0.86(frequency@12Hz)\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"alt\"\u003e\n\u003ctd\u003eShipment Weight\u003c\/td\u003e\n\u003ctd class=\"product_weight attribute_value\"\u003e\n\u003cp\u003e0.178 kg\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr class=\"\"\u003e\n\u003ctd\u003eShipment Dimensions\u003c\/td\u003e\n\u003ctd class=\"product_dimensions attribute_value\"\u003e\n\u003cp\u003e11 × 7 × 5 cm\u003c\/p\u003e\n\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003cbr data-mce-fragment=\"1\"\u003e\u003cimg src=\"https:\/\/o.lnwfile.com\/_\/o\/_raw\/um\/t4\/rp.png\" width=\"700\" data-mce-fragment=\"1\" data-mce-src=\"https:\/\/o.lnwfile.com\/_\/o\/_raw\/um\/t4\/rp.png\"\u003e\u003c\/p\u003e"}
Unfortunately I havent tested the 5G, Only difficult part was connecting antennas. But everything is good, by default it runs on Qualcom's QMI mode, Had to switch to MBIM and it works good with Windows. Planning to run with OpenWRT soon.
