How to get data from serial?

Hi guys, I am a beginner for PX4.
I want to set up a serial communication between my PX4 flight controller and other device by SERIAL4/5.
The serial will receive a 16-byte data packet continuously. So how to save these data?

Any example code or tutorial?

Thanks a lot, for your help!
Cheers!

Hi,
Maybe this documentation helps?
https://dev.px4.io/pixhawk-companion-computer.html