The invention provides a sensing system (1000), e.g. for agricultural application, comprising a radiation generator (100), a sensing apparatus (200), and a control system (300) functionally coupled to the radiation generator (100) and the sensing apparatus (200), wherein the sensing system (1000) has one or more time-of-flight sensing modes of operation, wherein the generator (100) is configured to generate a pulse of radiation (111) in the one or more time-of-flight sensing modes of operation, and wherein the sensing apparatus (200) is configured to sense wavelength dependent spectral intensities of radiation received by the sensing apparatus (200) as a function of time in the one or more time-of-flight sensing modes, to provide a sensing system signal; wherein the sensing system signal is indicative of the wavelength dependent spectral intensity distribution of the received radiation as a function of time in the one or more time-of-flight sensing modes.