Sonar based on the sensor " JSN-SRO4T"

Hello. Many people use this sensor in their boats to deliver bait for fish. The STM32-based autopilot is used. I would also like to use it with Pixhawk. This sensor has several operating modes, the principle is the same as that of the HC-SR04 sonar. What parameters do I need to connect to the SERIAL 4/5 port?

This sensor is compatible with apm2.8 / rover 2.5.1 …? Thanks

Not compatible. Need rover version 4.1