Sharp GP2Y0A21YK distance sensor

I have the above sensor left over from playing with an Arduino robot. It’s a short range sensor that works from about 80cm to 10cm, and simply outputs a voltage proportional to the distance to the object under the sensor.

Could I use this sensor with APM:Copter?

Pic of sensor: i.imgur.com/UK432Ex.jpg
Datasheet: sharpsma.com/webfm_send/1208