Pixhawk with TeraRanger One

Hi everyone!
I am working on obstacle avoidance of drones for a university project. I want to use the TeraRanger One rangefinder with Pixhawk, unfortunately, there is not much documentation about it.
I read in a forum post that Pixhawk firmware needed to be updated for the sensor to use. Is it true? Or is the sensor going to start working as soon as I plug it into Pixhawk, power it up and select the correct variables from the Mission Planner?

Good day, better update the firmware of your pixhawk, coz old previous firmware may not work, after this you must wire and set the sensor following the teraranger one wiki… you can find the wiki on terrabee website