Difference between plugging Terabee lidar into Pixhawk vs into companion computer

[ROS distance sensor usage — Dev documentation]


In regards to the article above, can someone please help me to understand the difference in plugging in my terrabee evo 60m lidar into the pixhawk vs companion computer. When would I do one over the other?

Always connect it to the pixhawk.

If you connect it to the companion computer, how would the companion computer pass the data to the pixhawk? You would need to write code for that. Do you want to do that?

Yes good point. How can I check the lidar output is being passed to the companion computer?
Thanks for your help

btw i can see the output on mission planner(lidar is connected to pixhawk)…wondering how to output this info on the companion computer running ROS