I have set up my copter to use the SF11/C Lidar on Serial 4 and get good terrain-following performance in Alt Hold mode. I am now needing to use it in Guided mode but it is not working and instead is using the barometer. A similar issue was brought up here for Copter 3.4 but it is unclear whether the issue was resolved. According to the docs here it seems like this should be possible.
Can anyone shed some light on this subject?