Ultrasonic Sensors

Hi all, I am setting up a submersible vehicle with 4x DF robot ultrasonics sensors. The autopilot is a blueRobotics navigator.

Does anyone know whether these sensors could be plugged directly into the autopilot via i2c connection and or if the sensor data is collected via an arduino, could the arduino inject the data into an ardupilot autopilot via mavlink infomation. OR is this the wrong senso for the job. Any help appreciated