Mamba F405 40A MK2 with ESC stack Flight Controller

Hello,

I’m new to drone building and was tasked with building a experimental quad 4 motor drone with 5 - HC-SR04 sensors connected to arduino nano, I want to attach it to the Mamba F405 40A MK2 with ESC stack Flight Controller.

My question is this…
Would I need to route the flight controller ESC wires output (4 of them) to the arduino nano and from there to the ESC motors?

any information would be helpful

Thanks