Bar02 Pressure Sensor Integration

I’m planning on running Arducopter on a Beaglebone Blue. Since the BBBlue is going to be in a waterproof enclosure (this is for a hybrid quadcopter robot that will also be going underwater regularly), the onboard barometer won’t work. (or will it? If it does then problem solved?)

If it doesn’t, then I’d like to use the Bar02 Pressure Sensor ( How would I add this as an external sensor and use it with Arducopter?

Any help or comments are greatly appreciated!

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