Pixhawk 6C GPS2 and TELEM3 port driver development

I am newbie to PX4 environment and I want to use GPS2 port and TELEM3 port as a UART Serial configuration. Basically, I want to send and receive data to and from 2 sensors attached on these 2 ports independently. What I’ve understood till now is that I’ll have to develop a driver on PX4 for this purpose. Please guide how can I start? I am using Qgroundcontrol.