How to Communicate between QGround Control and Multiple Pixhawk using Rpi?


I want to send data (GPS, BARO_METER) to Rpi that is connected (wired) with the Antenna Tracker. I have a H16 Skydroid (Remote Controller) running QGround Control and have multiple pixhawak. One is connected with drone and other one is connected with Antenna Tracker. I want QGC to communicate between both pixhawk and Rpi.

Please guide me how to get live GPS data from QGround Control and than use it to rotate servo motors.