Question about current measurement


I have an octocopter and I’m trying to measure the current (and voltage) between PDB and ESC via a power module.
There are 8 places I want to measure, and I’m thinking of using the CAN PMU Power detection module.
(CAN PMU Power detection module — Copter documentation)

How do I connect the power module to the Pixhawk cube orange?
And which parameter should I change?

If I can’t measure with this method in the first place, it would be greatly appreciated if you could tell me another good method.