Fuse data for multiple sensor

hi,I wonder if ardupilot support multiple proximity sensor for copter?
I try to use depth camera(Realsense D435i) and rangefinder(GY-US42) for Obstacle Avoidance.
how can I fuse their data ? for example ,I want to set one camera and one rangefinder forward(choose minimum distance from them), and use rangefinder in other direction.

from this link. i found a message of Distance sensor information for an onboard rangefinder.
Can any rangefinder be used to send distance to AP?
This maybe a way to fuse data for multiple sensor,because they all send message via mavlink?