Connecting MaxSonar to Ardupilot

I was wanting to try to connecting a MaxSonar-EZ1 sensor up to an Ardupilot board for some sensing and avoiding uses that involve not only stationary targets but also moving targets.However before I go down this path I want to make sure that this is actually possible since the ArduPilot runs on PWM signals and the EZ1 outputs through RS232. Has anyone attempted this or can anyone steer me down the correct path?

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