LD06 Proximity Integration

Hi all, I’m currently trying to integrate the LD06 LiDAR for functionality in ArduCopter. I created a “AP_Proximity_LD06.cpp” file inside the AP_Proximity Library Folder on my forked version of the Arducopter code and am a bit confused about what methods are necessary. The data that the sensor provides is read only (i.e. the sensor does not accept commands), so do I just need to include an update(void) method that reads the data from the UART connection? And once I do read the data, where do I output it to?

Thanks in advance!