Yes, pitot tubes have been supported for a long time by all of the "mainstream" flight control software (PX4, Ardupilot, iNav although in iNav it doesn't do much besides provide an on screen display readout). Both analog and digital (I2C) pressure transducers are generally supported by direct interface to either an ADC pin or the I2C bus, which is exposed on most boards, even those designed for quadcopters.
Many Ardupilot and PX4 boards are starting to come with CAN ports as well for UAVCAN peripherals.
It is astonishing to me how you can run fantastically good Free Software control software on them all, interchangeably.