Option of "HC-SR04 sonar" cannot be found in the configuration menu of RNGFND1_TYPE


I want to use HC-SR04 sonar for indoor flying, but when I tried to configure it referring the guide of this page, I cannot find the option of “HC-SR04 sonar” in the menu of RNGFND1_TYPE.

I have tried several versions of ardupilot firmware but none of them works.

Can anyone help me? Thanks a lot in advance.