I made a drone using px4 while back, and I want to use a raspberry pi to start a mision.

The way I want to make it is connecting the Pi to the drone using the telemetry, and have the pi running mosquito so I can use a wifi-connected device to start the drone.

Checked some repositories online and some of them connected the pi to the telemetry2 in the FMU, but that is not what I want