range finder sensors

I’m struggling in connecting Ultrasonic Range Finder - Maxbotix HRLV-EZ0 with pixhawk 2.4.8 through the I2C, can anyone help me with the detailed procedure of the connection and setup?
will it defer if i’m connecting the sensor directly with the I2C port or if i’m connecting it with the extension cable of the I2C? i must use the extension because the GPS is using the gps port and an I2C port.
Thanks in Advance