Help with project reading sensors

hi guys i need some help with a project i am trying to start. 

I have a wifi signal sensor i programed that will be outputting a logic high signal from a output pin in my sensor when detecting a specific signal (its the esp2866)

1-i need to see how i can connect this io pin from my wifi sensor to the apm controller, to what pin since it is 3.3v.. (and where can i get power from in the apm board too if possible to power up my sensor)

2-i need information on how i can read this pin and send this through mavlink so i can read a that as a boolean data in real time.. it needs to update at least every half a second.

3-i need information on how i can plot (with a marker on the map of missionplanner) when i recive a logic high from the sensor at the current position of the quadcopter where it detected this (i have gps installed).. or how to log this in a seperate log text file when i get a 1 from the sensor to log a gps position by creating a script or plugin and maybe send some new command to the quadcopter like for example return to home.

any help or pointing me out where too look in any of this points will be very helpfull

Thank you!!

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