What we are looking to implement as a standard model, is the DroneCan Proximity sensor.
This way, you can interface using Can Bus that may offer a better traffic handling while not overloading the MavLink Traffic that is very critical for command and control to and from GCS.
The PR has just been pushed for that but it still requires you write the driver within a UavCan Node like the Matek L431
Just a quick note, looking at their github, you have most of the code already written for the driver, making it much easier to implement. Depending of processing power you have onboard, you could use the ROS node Topic to feed the mavlink signal