RPLidar S1, S2 and A2 Pixhawk Compatibility

Hello! I have potentially a dumb question. I have and realize that the RPLidar A2 is supported with Pixhawk; but the A2 is not water resistant enough for my application. I’ve had good luck with the S1; but when used with MavROS. I need some type of semi-water resistant lidar which will interface directly to pixhawk for obstical avoidance.

Does anyone know if the S1 will work out-of-the-box if connected, or are there protocol differences?