The Pixhawk uses TELEM2 to communicate with a companion computer (ie, Raspberry Pi). How is this done on the Pixhawk Mini? It only has one TELEM port for telemetry, so how do I connect to the companion computer?
One thing you could do is connect to the companion on TELEM1 and connect the telemetry radio (if still needed) to the companion computer. Then use mavlink router on the companion computer. https://github.com/intel/mavlink-router
It should also be possible to connect a micro USB cable between them. Then I have to make these two ports talk to each other. I have such a cable that came with the Pi so maybe that was the intention. I am looking into it.