Rangefinder use in non-autonomous flight

Reading the docs about using a downward facing rangefinder for non-autonomous flight (e.g. loiter, alt-hold, etc) if a rangefinder is present, the autopilot will use the rangefinder’s distance for maintaining altitude. Using an aux-switch, the rangefinder can be disabled and barometric altitude will be used. And if the altitude causes the rangefinder to go out of range, the autopilot will revert to barometric altitude as well.

This would mean that if a downward facing rangefinder is in operation, non-autonomous flight is automatically terrain following when a flight mode is used that holds altitude.

Would someone please confirm that I’m understanding this correctly? Thank you!

Yes, it follow terrain. You can stay at 2 meters even over sloping ground.