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Alt.hold mode using tfmini lidar

Hi,
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

Regards

Servers by jDrones