Drone indoor navigation

I am trying to make my drone navigate indoors and I plan on using ultrasonic sensors. How do i integrate the ultrasonic sensor to my drone?

Should i integrate it with the autopilot/pixhawk through an arduino? Im not sure about this. It would be great if someone could share step by step instructions how to connect arduino with pixhawk and further read the values of the arduino in mission planner.

Step by Step instructions will be helpful.

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