Connecting RPi to ardupilot cube

Hi, I am trying to serially connect my RPi 4B with my ardupilot orange cube plus. I tried using the trivial way and also with a USB to TTL module but I don’t know why it does not connect. I assume it connects when I get heartbeat from running mavproxy.py.

I have given it many iterations, making changes to baudrate, or even flashing ubuntu 20.04 image multiple times. Can someone give a step by step process to do it. I may have been missing some steps.

Thank you