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Rplidar and obstacle avoidance issue, mavlink alternative?

Hello, this is a bit simple. I have tested obstacle avoidance using an A3 rplidar andhave found that the pixhawk is getting all the bad readings of the LiDAR.

I want to know if using bendy ruler , it can accept data from mavlink instead of the lidar or if anyone has tried using your own custom obstacle message to send information to the obstacle detection on rover 4.0.

Servers by jDrones