Adding Sensors to the Pixhawk and sending data via Mavlink to ground station or PC Data Logger

Dear Drone code members,

I would like to connect some external sensors (i.e., CO2 sensor, Humidity sensor…) to the Pixhawk 1 board. Then I want to read the sensor data with the autopilot and send their values via Mavlink to the ground station or a Datalogger app in the ground station PC.

Is there someone with previous experience with this topic or similar? I would like to know:

  • What is the best way to communicate with the sensors I2C or ADC?
  • What would be the recommended rate of data acquisition to avoid affecting the performance of the autopilot?

Thank you in advance for your support.

I’m currently working on getting this going on my drones. I assume that you have a Arduino involved?