Proximity data through MAVLINK

I am trying to get the data of proximity through MAVLINK.
I am working with the RPLidar A3 and want to obtain the proximity data of the Lidar through MAVLINK.

Yes that will probably work fine.

Is it possible if you could tell me a way to get the data from my proximity sensor to mavros on raspberry pi3?
Just to be clear I’m working on a quad copter with arducopter version 3.6.12.

Look at what I have done here