Connect GND to GND and swap TX with RX between one of the UART ports on the VOXL and one of the telemetry ports on the Pixhawk
VOXL 2 USB3 UART expansion board UART datasheet
Pixhawk Wiring
VOXL Configuration
Voxl Mavlink Server
Instruction
Image
Edit /etc/modalai/voxl-mavlink-server.conf
Have autopilot_uart_baudrate set to 921600
Set autopilot_uart_bus to be the correct one associated with your port in my case it's 1 because I'm using tty/HS1 (find out bus number here if using a different port)
Set en_exeternal_uart_ap to true
Ardupilot Configuration
Instruction
Image
Connect a micro usb to your pixhawk and set the following parameters if using telem 1
