Connecting a pixhawk device to rpi?

Hello, I am doing so following this link http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html#raspberry-pi-via-mavlink. Can I use the usb port on pxhawk to connnect tothe master usb of rpi so no tele2 port will be used?

If so, what should be set up on pixhawk and what should be set up for rpi section?

Best

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@Angeliyah yes, you can. if you connect pixhawk through USB it shows up as ttyACM* device.
so instead of mavproxy.py --master=/dev/ttyAMA0 you can use:

mavproxy.py --master=/dev/ttyACM0

ttyACM0 or ttyACM1 depending on which port it uses

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