diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index 449d0236da..20b819526e 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -37,7 +37,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
     // @Param: 1_PROTOCOL
     // @DisplayName: Telem1 protocol selection
     // @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial
+    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
     // @User: Standard
     AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
 
@@ -51,7 +51,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
     // @Param: 2_PROTOCOL
     // @DisplayName: Telemetry 2 protocol selection
     // @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial
+    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
     // @User: Standard
     AP_GROUPINFO("2_PROTOCOL",  3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
 
@@ -65,7 +65,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
     // @Param: 3_PROTOCOL
     // @DisplayName: Serial 3 (GPS) protocol selection
     // @Description: Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial
+    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
     // @User: Standard
     AP_GROUPINFO("3_PROTOCOL",  5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
 
@@ -79,7 +79,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] PROGMEM = {
     // @Param: 4_PROTOCOL
     // @DisplayName: Serial4 protocol selection
     // @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial
+    // @Values: 1:GCS Mavlink, 3:Frsky D-PORT, 4:Frsky S-PORT, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar
     // @User: Standard
     AP_GROUPINFO("4_PROTOCOL",  7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
 
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index a2d0f12cc9..a6e112cf45 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -81,6 +81,7 @@ public:
         SerialProtocol_GPS2 = 6,        // do not use - use GPS and provide instance of 1
         SerialProtocol_AlexMos = 7,
         SerialProtocol_SToRM32 = 8,
+        SerialProtocol_Lidar = 9,
     };
 
     // Constructor