Tfmini I2C Arduplane

Good day all

Got myself a TFmini and have been working to get this going on a Plane with I2C bus .Pixhack 2.
Should i write my own sketch for Ardupilot ? Or there is some steps to do in mission planner to get it going on I2C ?

Good day, you can use your lidar as landing sensor or altimeter…, you need to set up correctly on the advanced parameters tree…,

TF mini can be wired on i2c… uart and uavcan node…