The technology disclosed herein provides a method of operating a LiDAR system, the method including directing from a light source a distance-measuring beam of light on a target, receiving a reflection of the beam of light from the target on a fast mechanical scanner, compensating for angular offset induced by the fast mechanical scanner within the reflection of the beam of light using an offset compensator, and determining a distance between the light source and the target based on the offset corrected light beam output from the offset compensator and directed to a detector.