How to connect arduino to pixhawk 2.4.8 and to a 4wd robot car

hello . i am trying to build a robot to avoid obstacles.i need help in how to connect and extract data from the auto-pilot to the arduino, and how to connect the pixhawk 2.4.8 to the 4wd robot car
i appreciate your help

have you checked the wiki:
it has all the new information to start

sorry i type the wrong question i was asking about a code to control the autopilot from arduino and to get data from it
i already make the connection