APM 2.8 and ESP32 I2C

So,I was trying I2C communication of esp32 and APM2.8 here apm2.8 is the master receiver and esp32 is the slave sender im using ardurover 2.51 version firmware it has no parameter such as i2c_adress ,only range finder evevn tho configuring that no data is

Updated post title and category. I have no expertise regarding APM 2.8 so cannot answer the question.

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Start with a supported Flight Controller.

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