Control the drone with Arduino and Ultras sounds sensors

I’m working on a connection between Pixhawk and Arduino and I want to control the movement of the drone from the Arduino according to the ultra sound sensor. I can reicive pixhawk packets on the Arduino and see them on the Arduino’s serial monitor, but my objectif is to write an Arduino code that allows me to send commands to the Pixhawk to control it (Land if there is an obstacle). and also see it on QGroundControl.
My problem now is that I do not know what functions I should use and how to use it.
i just want the mavlink functions that will send the commends to pixhawk and how they work
Please I need HELP.
And Thank you soo much.