4 range finder on same time

I am interested in connecting 4 range finders, one for each side forward, backward, right and left
And fly indoor area
Does Pixwalk know how to control on 4 sensors, like the altitude?
If so how?

Yes, it can do that. The wki explains how to connect multiple range finders.
And there is a “surface-tracking” feature in Arducopter 4.0 that does what you want.

Take a look at this