Telemetry with arduino

I work in a college project where we build an cargo rc plane.
I would like to know if there is a way to connect an arduino uno to pixhawk, so I can collect data from some potentiometers and a pitot and read it from telemetry log from mission planner.
It would also record the data from the potentiometers in a sd card connected to arduino, so i could have redundancy. Those potentiometers will be used as a angle of attack sensor and some more sensors that we need.

You should go for a Raspberry pi or similar and read the compagnion computer page of the manual.

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Please take a look onto