Is Lidar used as primary height source only during Landing mode or also in Auto mode?

@lucamax wrote:

I need to do a simple mission flying at low altitude , 2 - 5 meters from ground in a flat terrain.
But from my tests Lidar seems not to be used.

1. Which parameters should be set to enable Lidar as primary height source in Auto mode ?
   As far as I know :

• RNGFND_TYPE different from zero
• EK2_RNG_HGT percentage of Lidar range set to desired value.

2. Is EK2_RNG_USE_SPEED , will prevent the use of Lidar when airplane speed is above 6 m/s ?

3. How Lidar used as primary height source can be checked when looking at dataflash logs or with Mission Planner “tuning” graph ?

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