Help me,a Problem about SF11c module

I have a Pixhack autopilot,also have two SF11c module,I want use one of them to achieve altitude keep,and another one to achieve Object Avoidance,but SF11c is a rangefinder module,it is suitable used for altitude ,so the question:
Can SF11c be used on Object Avoidance?Can SF11c replace the SF40c?If so,how should I set parameter in Mission Planner?Thanks
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