Arduino(nano) connection to Flight controller (Naze32)

Hi,

Im trying to build a fully autonomous quad which will maintain a certain altitude. I am using an ultrasonic sensor to measure my altitude which will be sent to my arduino. I also have a flight controller(naze32). Im wondering if I can directly connect my arduino pins to naze32 pins (without a transmitter/receiver).

My idea is that my ultrasonic sensor will measure altitude, send it to my arduino, my quad will then takeoff then from there, my flight controller will take over to control the quad.

Im also wondering if there is a way to make my quad fully autonomous by just using the naze32. It would automatically takeoff once I switch it on, maintain certain altitude using its barometer, hover for around 30secs, then land.

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