Obstacle Avoidance

I've did some research on Obstacle avoidance in this forum and i found out that i can actually implement 4 sonars onto my APM2.0 board. But my main concern for this is that, theres only one port for sonar, which is for the altitude detection, altitude hold. Can i implement the other 4 sonars onto the other Analog Inputs on the board? If so can Mavlink detect and work? Do i have to change any codes? Which part must i change for this to work? Any Ideas guys? Will gladly appreciate any help!

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