The one that is supported by ther master branch is explored by @taileron here https://discuss.px4.io/t/px4-1-12-on-scorpion-80-hd-whoop-w-mamba-f405-mini-mk2
It seems like there is no direct I2C pad available for wiring but maybe can follow how he did to the UART4 by direct soldering to the MCU pins?