# Adding a Scanner

Add a lidar scanner to the project. Select VQ-840-G as the device type:

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2FrWVYDSC8FeXvLyz1i45H%2Fimage.png?alt=media&#x26;token=ff8b312d-edd2-4ba9-a168-0573cdbfb185" alt=""><figcaption></figcaption></figure>

As for the laser device, the mounting matrix (blue) is the same for all HydroRanger systems. The calibration values (red), however, are specific to your system and should match your RPP template:

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2FFBW29RXwBBehr3xzz06z%2Fimage.png?alt=media&#x26;token=88f31bcd-d66f-47a1-9b0a-8242b5888be8" alt=""><figcaption></figcaption></figure>

Ensure that INS-GPS 1 is selected as the Navigation Device.