Drone indoor navigation using Lidar

Hello

I have a drone with Pixhawk as its autopilot. I am trying to make it navigate indoors without colliding into objects. I am planning to use this Lidar. I want to know if there is a way to connect it to the Pixhawk. If someone could give me a detailed explanation on how to connect the Lidar to the Pixhawk and how to make the drone navigate indoors it would be great.

Thanks. 

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