You don’t really need to use the wi-fi for internet connection.
My test setup consists of a raspberry+pixhawk+camera with the Raspberry connected directly to my router. This results in the Raspberry getting assigned an IP address by the router DHCP server along with the 192.168.2.2:
Then I can just add the IP 192.168.2.1 to my PC and everything works fine:
sudo ip addr add 192.168.2.1/24 dev enp6s0
(enp6s0 is my wired network interface connected to the router)