LIDAR - which modes use it?

ArduCopter Copter 3.2
1

Hi all,

I’ve got the Pulsedlight LIDAR unit runnning (mostly…still very buggy), but how do I use it in flight? Which modes use it?

2

Plus 1

3

Lidar or Sonar get used in:

Alt Hold
Circle
Loiter
PosHold
and Sport

Basically all of the auto-throttle modes, except Auto, it seems.