TFmini Plus connection to Cube Orange

Hello,

I have an octocopter and two TFmini Plus sensors, which I want to use one looking downward for height sensing and the other looking forward for object avoidance. I’ve seen that I need to configure them with a GUI to make them work with I2C, but I’m not sure how to connect them to my Cube Orange. Can someone give me a hand with this?

Additionally, if I want to add more sensors in the future, can I use the same port, or would I need a different setup? would I need to buy an I2C Splitter? if Im using a HERE4 GPS in a CAN port, can I connect them via CAN?

sorry for having a lot of questions, I have been researching for the whole day and I’m not sure of the answers jet.

Thanks in Advance!