Yes. Firstly, you need to enable the params in sensors module. I cannot recall which file, but it is in the sensors folder in px4 firmware modules.
Secondly, you need to check if your sonar module is activated in rcS script, since it must be started during system boot up that kernal is able to read the sonar values returned. (not every sensor has its corresponding activation code in rcS, so you need to verify it).
You can reference the sf0x or MB12xx, which has been implemented in the rcS. If your sonar is activated, you will see its data in QGC because sonar is one kind of range finder, its data should and will be published via uORB.