Alt.hold mode using tfmini lidar

I want to use tfmini lidar in alt.hold for horizontal object avoidance.
Can anyone plz help me
When I referred the tfmini manual i got the parameters for alt.hold and object avoidance separately,what changes are required when I am using this mode for horizontal avoidance.
I have not included gps in my drone so I cannot go for loiter mode
Please provide me with necessary help