diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
index 38827e320afa1b..c2efaccba6673f 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
@@ -108,6 +108,8 @@ float AP_Proximity_RPLidarA2::distance_max() const
         return 8.0f;
     case Model::A2:
         return 16.0f;
+    case Model::C1:
+        return 10.0f;
     case Model::S1:
         return 40.0f;
     }
@@ -121,8 +123,8 @@ float AP_Proximity_RPLidarA2::distance_min() const
     case Model::UNKNOWN:
         return 0.0f;
     case Model::A1:
-        return 0.2f;
     case Model::A2:
+    case Model::C1:
     case Model::S1:
         return 0.2f;
     }
@@ -334,6 +336,10 @@ void AP_Proximity_RPLidarA2::parse_response_device_info()
         model = Model::A2;
         device_type = "A2";
         break;
+    case 0x41:
+        model=Model::C1;
+        device_type="C1";
+        break;
     case 0x61:
         model = Model::S1;
         device_type = "S1";
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
index 2c9d9db524c8e5..e4fa83304514d3 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
@@ -151,6 +151,7 @@ class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend_Serial
         UNKNOWN,
         A1,
         A2,
+        C1,
         S1,
     } model = Model::UNKNOWN;