ArduSub support for Bar02 depth/pressure sensor? Depth hold not functioning

Can you please let me know the process of compiling a custom firmware with the support of Bar02 pressure sensor? I would highly appreciate a swift response

Can you please tell the changes?

Can you please let me know tha changes I need to make to add support for Bar02 pressure sensor?

Has anyone successfully integrated Bar02 pressure with Pixhawk for Ardusub?
I saw this issue

But no one seemed to respond.
Can any one please help me out?