How to connect raspberry pi or odroid to bebop2?

I’d like to use the pi or odroid processor to help the bebop perform autonomous flight with a low cost camera. The vision algorithm is expected to run onboard. Control command should be sent to the bebop flight controller (I wrote the px4 firmwire to bebop). The next step is the communication between the odroid and the px4. My question is how to connect these two things and what hardware I need to achieve that?

Appreciate any hints and help greatly.