Arduino and Cube Orange Integration

Hello all, I am working on a project where a Cube Orange is the autopilot/FC for a quadcopter. The project I am working one would use an arduino that has to do one of a few things, either read GPS data from the autopilot and attach a sensor reading to that when writing to a sd card, same thing but write to a new log file on the autopilot, or be able to add the sensor reading to the telemetry and be viewable within Mission Planner (or other ground station program). I am unsure where to start (I2C/UART/Telem) and would like some guidance or links to the appropriate documentation. Thank you!

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