Object avoidance configuration with pixhawk

Hello ,
has anyone configured object avoidance sensors to pixhawk(6 of them for hexa) using HC-SR04 ?
I am unable to get the proximity distances on mission planner ?
what pramaters to configure for using HC-SR04 sensors ?

I have not experimented with sonar on avoidance, here is my blog on the subject

Good day, a good obstacle avoidance is also the teraranger evo with the sensor 60m.
Im using it on all my drones and work very well.