Communications information request

Hi. I need to ‘talk’ to a Pixhawk 2.1 controller to send and receive limited data to/from a PLC (Programmable-Logic Controller) I request guidance about which serial protocol (I2C, CAN or USB) to use.
I also request someone to direct me to someone who has created such a link so I can consult with them. I’m willing to pay for the consultation.
Thank you in advance!