Obstacle Collision Avoidance using Sharp IR sensors using fuzzy logic method

hello, i have a final project where i need to program a drone using APM 2.9 to avoid obstacles using 4 sharp IR sensors and arduino to handle the sensors using fuzzy logic method. Im still confuse how can i send the distance data to my APM 2.9 and also how to code the collision avoidance.

Any idea to solve my problem ?