I’ve gone through the datasheet of the sensor and I found that it can be directly connected the way you are doing. Also i found that at 0 current it will give 2.5V output and a per ampere it will make a difference in output voltage of around 65mV only. That means at 0A you will get 2.500V and at 1A you will get 2.565V only.Make sure you’ve connected the reference voltage of the microcontroller to 5V and you are trying to measure very high current like 5A-20A.