Connecting an odometer to Pixhawk 6x

Hello,
I am interested in connecting a 4 wheel speedometer to a Pixhawk 6x, the wheel signal is a simple square wave for each wheel rotation. What is the best option for this connection?

I purchased an odometer that connects to the vehicle’s wheels and outputs the information (speed/pulses) in standard CANBAS format or via USB. Is there a way to use this converter to input the wheel speed into PIXHAWK?

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