Benewake tfmini

Hello everyone
Ihave pixhawk 6c
I connect the lidar benewake tfmini to i12c it turn on isee the light but idont know how to configure in qgroundcontrol or mission planner
Iam new please help

Following these instructions will help you setup the TF Mini sensor:
https://ardupilot.org/copter/docs/common-benewake-tfmini-lidar.html

Further, I hope you are planning to use the sensor for obstacle avoidance. For that, use these instructions:
https://ardupilot.org/copter/docs/common-simple-object-avoidance.html