How to pass distances sensor value to FCU?

[hcws]

I want to use MAVROS to transfer the distances of the four ultrasonic ranging modules to the FCU for obstacle avoidance. May I ask if MAVROS supports this? Why can't I find any topics related to distance? The following is the specific content of my px4_pluginlists.yaml

px4_pluginlists.yaml

ROS Version: noetic
PX4 version:1.14

plugin_blacklist:
# common
- safety_area
# extras
- image_pub
- vibration
- distance_sensor
- rangefinder
- wheel_odometry


plugin_whitelist: []
#- 'sys_*'

[vooon]

You probably need a distance_sensor with the config for 4 subscribers.