Fixed reference altitude with LIDAR Lite

Apologies if I missed an obvious discussion of this. I'd like to use LIDAR Lite to maintain a precision fixed relatively low altitude based on a reference altitude, irrespective of ground objects it passes over. So, for example, if the reference starting altitude was 20 feet above the ground, and the directed path was over a car or a shed, I'd like the drone to maintain that 20 foot reference height from the ground, and not rise higher as it passed over objects like the shed or car. Simple? Difficult? Thanks!

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