Fuel level sensor using analog voltage 5v

Hey there,

I have a fuel level sensor which outputs an analog voltage indicating the level for example:
4.5 v => Full
0.5 v => Empty

As I can see here Fuel Flow and Level Sensors — Copter documentation (ardupilot.org) it is only available with PWM signal.

The flight controller is Holybro Durandal with ArduCopter 4.1.5

Any help is apricated, the goal is either just showing the analog voltage in ground station or better showing it as a percentage