In auto mode, the rangefinder is not used during flight, unless you change the settings. However, it is already used during landing. If the drone is at a higher altitude than the lidar range when landing at a location other than takeoff, the drone will stop landing and return to home. To prevent this from happening, you need to use a lidar with the right range or change the parameters, now I don’t remember what. But then it makes no sense to use lidar.