Setup echosounder (for deep measure) and Lidar (for object avoidance)

Hello, thank you in advance for the helps.

I am just accomplish my autonomous boat project. But, I have a big doubt about the setup of the echosounder and Lidar (for object avoidance). About the sonnar I have the echologger ECT400 that can be integrate to pixhawk by a serial port. As you realize, it use parameter value:


However, in the case of the lidar setup (LightWare SF10C) it demand use a serial port, too (for long cable) use same parameter with the value:

RNGFND1_TYPE = 8 (LightWareSerial)

I know that is possible define more than one lidar sensor by RNGFNDn_TYPE parameter. But, I don’t know how “Object Avoidance with Bendy Ruler” algorithm get the distance data. Moreover, what value will be show as “Sonarrange” in the in the Mission Planner’s Flight Data screen’s Status tab.