diff --git a/core/common/DriverInterface.h b/core/common/DriverInterface.h
index 9663d5e..0f86ffd 100644
--- a/core/common/DriverInterface.h
+++ b/core/common/DriverInterface.h
@@ -24,7 +24,7 @@ class DriverInterface {
     * @remarks
     <table>
          <tr><th>G1/G2/G2A/G2C                          <td>false
-         <tr><th>G4/G4B/G4PRO/G6/F4/F4PRO               <td>false
+         <tr><th>G4/G5/G4B/G4PRO/G6/G7/F4/F4PRO         <td>false
          <tr><th>S4/S4B/X4/R2/G4C                       <td>false
          <tr><th>S2/X2/X2L                              <td>true
          <tr><th>TG15/TG30/TG50                         <td>false
@@ -42,8 +42,8 @@ class DriverInterface {
   * @remarks
   <table>
        <tr><th>G1/G2A/G2/G2C                    <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
-       <tr><th>G4/G4B/G4C/G4PRO                 <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
-       <tr><th>G6/F4/F4PRO                      <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
+       <tr><th>G4/G5/G4B/G4C/G4PRO              <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
+       <tr><th>G6/G7/F4/F4PRO                   <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
        <tr><th>S4/S4B/X4/R2/S2/X2/X2L           <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
        <tr><th>TG15/TG30/TG50/TX8/TX20          <td>[TYPE_TOF](\ref LidarTypeID::TYPE_TOF)
        <tr><th>T5/T15                           <td>[TYPE_TOF_NET](\ref LidarTypeID::TYPE_TOF_NET)
@@ -71,7 +71,7 @@ class DriverInterface {
    <table>
         <tr><th>S4/S4B/S2/X2/X2L/X4                    <td>true
         <tr><th>TX8/TX20                               <td>true
-        <tr><th>G4/G4C/G4PRO/F4/F4PRO/G6               <td>false
+        <tr><th>G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7         <td>false
         <tr><th>G1/G2A/G2C/R2/G2/G4B                   <td>false
         <tr><th>TG15/TG30/TG50                         <td>false
         <tr><th>T5/T15                                 <td>false
@@ -354,6 +354,8 @@ class DriverInterface {
     YDLIDAR_G4B     = 17,/**< G4B LiDAR Model. */
     YDLIDAR_G4C     = 18,/**< G4C LiDAR Model. */
     YDLIDAR_G1      = 19,/**< G1 LiDAR Model. */
+    YDLIDAR_G5      = 20,/**< G5 LiDAR Model. */
+    YDLIDAR_G7      = 21,/**< G7 LiDAR Model. */
 
     YDLIDAR_TG15    = 100,/**< TG15 LiDAR Model. */
     YDLIDAR_TG30    = 101,/**< T30 LiDAR Model. */
diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
index 1f9e48a..be337ae 100644
--- a/core/common/ydlidar_help.h
+++ b/core/common/ydlidar_help.h
@@ -160,6 +160,16 @@ inline std::string lidarModelToString(int model) {
 
       break;
 
+    case DriverInterface::YDLIDAR_G5:
+      name = "G5";
+
+      break;
+
+    case DriverInterface::YDLIDAR_G7:
+      name = "G7";
+
+      break;
+
     case DriverInterface::YDLIDAR_TG15:
       name = "TG15";
 
@@ -265,6 +275,14 @@ inline int lidarModelDefaultSampleRate(int model) {
       sample_rate = 9;
       break;
 
+    case DriverInterface::YDLIDAR_G5:
+      sample_rate = 9;
+      break;
+
+    case DriverInterface::YDLIDAR_G7:
+      sample_rate = 18;
+      break;
+
     case DriverInterface::YDLIDAR_TG15:
       sample_rate = 20;
       break;
@@ -312,9 +330,11 @@ inline bool hasSampleRate(int model) {
   bool ret = false;
 
   if (model == DriverInterface::YDLIDAR_G4 ||
+      model == DriverInterface::YDLIDAR_G5 ||
       model == DriverInterface::YDLIDAR_G4PRO ||
       model == DriverInterface::YDLIDAR_F4PRO ||
       model == DriverInterface::YDLIDAR_G6 ||
+      model == DriverInterface::YDLIDAR_G7 ||
       model == DriverInterface::YDLIDAR_TG15 ||
       model == DriverInterface::YDLIDAR_TG50 ||
       model == DriverInterface::YDLIDAR_TG30) {
@@ -373,7 +393,7 @@ inline bool isSupportLidar(int model) {
   bool ret = true;
 
   if (model < DriverInterface::YDLIDAR_F4 ||
-      (model > DriverInterface::YDLIDAR_G1 &&
+      (model > DriverInterface::YDLIDAR_G7 &&
        model < DriverInterface::YDLIDAR_TG15) ||
       (model > DriverInterface::YDLIDAR_TG50 &&
        model < DriverInterface::YDLIDAR_T15)) {
diff --git a/doc/Dataset.md b/doc/Dataset.md
index 523ca28..ce821f2 100755
--- a/doc/Dataset.md
+++ b/doc/Dataset.md
@@ -18,6 +18,8 @@
 | G4B       | 17		|  512000   |   10           |  0.12~16         | 5~12        	  | true(10)       | false    	  | 4.8~5.2   |
 | G4C       | 18		|  115200   |   4            |  0.1~12		      | 5~12           | false          | false    	  | 4.8~5.2   |
 | G1        | 19		|  230400   |   9            |  0.28~16         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| G5        | 20	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G7        | 21       |  512000   |   18/16/8      |  0.28/0.26/0.1~25| 5~12        	  | false          | false    	  | 4.8~5.2   |
 | TX8    　 | 100	   |  115200   |   4            |  0.1~8      	   | 4~8(PWM)       | false          | true      	  | 4.8~5.2   |
 | TX20    　| 100	   |  115200   |   4            |  0.1~20      	   | 4~8(PWM)       | false          | true     	  | 4.8~5.2   |
 | TG15    　| 100	   |  512000   |   20/18/10     |  0.05~30      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
diff --git a/doc/howto/how_to_build_and_install.md b/doc/howto/how_to_build_and_install.md
index 8c6b087..f421e37 100755
--- a/doc/howto/how_to_build_and_install.md
+++ b/doc/howto/how_to_build_and_install.md
@@ -125,7 +125,6 @@ We provide the following program options for connecting the specific units :
 ```
 [Please select the lidar baudrate:]: input LiDAR BaudRate.
 [Whether the Lidar is one-way communication[yes/no]:]: Whether The Current LiDAR is single-channel.
-[Whether the Lidar is a TOF Lidar [yes/no]:]: Whether The Current LiDAR is TOF Type LiDAR.
 [Please enter the lidar scan frequency[5-12]:]:input LiDAR Scan Frequency.
 ```
 
@@ -145,7 +144,6 @@ Baudrate:
 4. 512000
 Please select the lidar baudrate:4
 Whether the Lidar is one-way communication[yes/no]:no
-Whether the Lidar is a TOF Lidar [yes/no]:yes
 Please enter the lidar scan frequency[5-12]:10
 ```
 
diff --git a/src/CYdLidar.h b/src/CYdLidar.h
index 3f8a2dd..0e66db4 100644
--- a/src/CYdLidar.h
+++ b/src/CYdLidar.h
@@ -71,6 +71,8 @@
 <tr><th> G4B       <td> 17	   <td>  512000   <td>   10           <td>  0.12~16         <td> 5~12        	<td> true(10)       <td> false    	  <td> 4.8~5.2
 <tr><th> G4C       <td> 18	   <td>  115200   <td>   4            <td>  0.1~12		    <td> 5~12           <td> false          <td> false    	  <td> 4.8~5.2
 <tr><th> G1        <td> 19	   <td>  230400   <td>   9            <td>  0.28~16         <td> 5~12      	    <td> false          <td> false    	  <td> 4.8~5.2
+<tr><th> G5        <td> 20	   <td>  230400   <td>   9/8/4        <td>  0.28/0.26/0.1~16<td> 5~12        	<td> false          <td> false    	  <td> 4.8~5.2
+<tr><th> G7        <td> 21         <td>  512000   <td>   18/16/8      <td>  0.28/0.26/0.1~25<td> 5~12        	<td> false          <td> false    	  <td> 4.8~5.2
 <tr><th> TX8    　 <td> 100	   <td>  115200   <td>   4            <td>  0.05~8      	<td> 4~8(PWM)       <td> false          <td> true      	  <td> 4.8~5.2
 <tr><th> TX20    　<td> 100	   <td>  115200   <td>   4            <td>  0.05~20      	<td> 4~8(PWM)       <td> false          <td> true     	  <td> 4.8~5.2
 <tr><th> TG15    　<td> 100	   <td>  512000   <td>   20/18/10     <td>  0.05~30      	<td> 3~16      	    <td> false          <td> false    	  <td> 4.8~5.2
@@ -81,7 +83,7 @@
  */
 
 /**
- * @par example: G4 LiDAR
+ * @par example: G4/G5 LiDAR
  * @code
   ///< Defining an CYdLidar instance.
   CYdLidar laser;
@@ -483,9 +485,9 @@
  * Set the sampling rate to match the LiDAR.
  * @remarks unit: kHz/s, Ranges: 2,3,4,5,6,8,9,10,16,18,20\n
  <table>
-      <tr><th>G4/F4               <td>4,8,9
+      <tr><th>G4/G5/F4            <td>4,8,9
       <tr><th>F4PRO               <td>4,6
-      <tr><th>G6                  <td>8,16,18
+      <tr><th>G6/G7               <td>8,16,18
       <tr><th>G4B                 <td>10
       <tr><th>G1                  <td>9
       <tr><th>G2A/G2/R2/X4        <td>5
@@ -507,8 +509,8 @@
  * @remarks unit: Hz\n
  <table>
       <tr><th>S2/X2/X2L/TX8/TX20              <td>4~8(PWM)
-      <tr><th>F4/F4PRO/G4/G4PRO/R2            <td>5~12
-      <tr><th>G6/G2A/G2/G2C/G4B/G4C/G1        <td>5~12
+      <tr><th>F4/F4PRO/G4/G5/G4PRO/R2         <td>5~12
+      <tr><th>G6/G7/G2A/G2/G2C/G4B/G4C/G1     <td>5~12
       <tr><th>S4/S4B/X4                       <td>5~12(PWM)
       <tr><th>TG15/TG30/TG50                  <td>3~16
       <tr><th>T5/T15                          <td>5~40
@@ -541,7 +543,7 @@
  <table>
       <tr><th>LiDAR                           <th>reversion
       <tr><th>G1/G2/G2A/G2C/F4/F4PRO/R2       <td>true
-      <tr><th>G4/G4PRO/G4B/G4C/G6             <td>true
+      <tr><th>G4/G5/G4PRO/G4B/G4C/G6/G7       <td>true
       <tr><th>TG15/TG30/TG50                  <td>true
       <tr><th>T5/T15                          <td>true
       <tr><th>S2/X2/X2L/X4/S4/S4B             <td>false
@@ -578,9 +580,9 @@
      <tr><th>F4/S2/X2/X2L/S4/TX8/TX20/G4C        <td>115200
      <tr><th>X4                                  <td>128000
      <tr><th>S4B                                 <td>153600
-     <tr><th>G1/G2/R2/G4/G4PRO/F4PRO             <td>230400
+     <tr><th>G1/G2/R2/G4/G5/G4PRO/F4PRO          <td>230400
      <tr><th>G2A/G2C                             <td>230400
-     <tr><th>G6/G4B/TG15/TG30/TG50               <td>512000
+     <tr><th>G6/G7/G4B/TG15/TG30/TG50            <td>512000
      <tr><th>T5/T15(network)                     <td>8000
  </table>
 * @see CYdLidar::lidarSetProp and CYdLidar::lidarGetProp
@@ -633,7 +635,7 @@
  * @remarks
  <table>
       <tr><th>G1/G2/G2A/G2C                          <td>false
-      <tr><th>G4/G4B/G4PRO/G6/F4/F4PRO               <td>false
+      <tr><th>G4/G5/G4B/G4PRO/G6/G7/F4/F4PRO         <td>false
       <tr><th>S4/S4B/X4/R2/G4C                       <td>false
       <tr><th>S2/X2/X2L                              <td>true
       <tr><th>TG15/TG30/TG50                         <td>false
@@ -652,8 +654,8 @@
 * @remarks
 <table>
      <tr><th>G1/G2A/G2/G2C                    <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
-     <tr><th>G4/G4B/G4C/G4PRO                 <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
-     <tr><th>G6/F4/F4PRO                      <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
+     <tr><th>G4/G5/G4B/G4C/G4PRO              <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
+     <tr><th>G6/G7/F4/F4PRO                   <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
      <tr><th>S4/S4B/X4/R2/S2/X2/X2L           <td>[TYPE_TRIANGLE](\ref LidarTypeID::TYPE_TRIANGLE)
      <tr><th>TG15/TG30/TG50/TX8/TX20          <td>[TYPE_TOF](\ref LidarTypeID::TYPE_TOF)
      <tr><th>T5/T15                           <td>[TYPE_TOF_NET](\ref LidarTypeID::TYPE_TOF_NET)
@@ -672,7 +674,7 @@
  * @remarks
  <table>
       <tr><th>S4B/G2/G4B                             <td>true
-      <tr><th>G4/G4C/G4PRO/F4/F4PRO/G6               <td>false
+      <tr><th>G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7         <td>false
       <tr><th>G1/G2A/G2C/R2                          <td>false
       <tr><th>S2/X2/X2L/X4                           <td>false
       <tr><th>TG15/TG30/TG50                         <td>false
@@ -707,7 +709,7 @@
  <table>
       <tr><th>S4/S4B/S2/X2/X2L/X4                    <td>true
       <tr><th>TX8/TX20                               <td>true
-      <tr><th>G4/G4C/G4PRO/F4/F4PRO/G6               <td>false
+      <tr><th>G4/G5/G4C/G4PRO/F4/F4PRO/G6/G7         <td>false
       <tr><th>G1/G2A/G2C/R2/G2/G4B                   <td>false
       <tr><th>TG15/TG30/TG50                         <td>false
       <tr><th>T5/T15                                 <td>false
diff --git a/src/ydlidar_driver.cpp b/src/ydlidar_driver.cpp
index 4f16527..22b980a 100644
--- a/src/ydlidar_driver.cpp
+++ b/src/ydlidar_driver.cpp
@@ -1427,9 +1427,11 @@ void YDlidarDriver::checkTransDelay() {
 
   switch (model) {
     case YDLIDAR_G4://g4
+    case YDLIDAR_G5:
     case YDLIDAR_G4PRO:
     case YDLIDAR_F4PRO:
     case YDLIDAR_G6://g6
+    case YDLIDAR_G7:
     case YDLIDAR_TG15:
     case YDLIDAR_TG30:
     case YDLIDAR_TG50: