The Cube autopilot & PLC integration

I want to integrate Pixhawk(The cube) with PLC.
The PLC supports RS232,RS485 and CANopen.
For example i want to read the current value of the Bar30 sensor (I2C) and other values.
Could you please help me how can this happend.
Thank you!

Sure, use pymavlink to generate the C code to decode the Mavlink messages, and compile that code on your PLC. It will then be able to talk mavlink via one of the serial ports.