How to set up my raspberry to communicate with QGC?

Hello guys! I downloaded a image from the official website of Raspberry(Raspberry Pi OS – Raspberry Pi).
Now what I shoud set up could make my raspberry communicate with pixhawk and QGC! Thank you all!

Hi you can go to and follow introduction
When you used ardusub rasbian image
Pixhawk automatically connect to raspberry pi

Thank you Volley! I have read this guide book, but I just want to finish seting up by myself, because I plan to use TK1 to take place of raspberry! Do you have a good idea?

Ok, you can install mavlink on your raspberry pi
This link can be help you