How to control a drone with jetson nano with pixhawk

I want to build a drone that is autonomous. I will use jetson nano and pixhawk. I want to learn how I will connect jetson nano to pixhawk. I will enter a code with python to jetson nano and I will ask the drone to go to a location and when I disconnect the drone and give the start command, I say the drone will go to that location autonomously, what do I need in this process, I don’t know how to provide communication between jetson nano and pixhawk python. Can you help me?

Search this forum and the ardupilot documentation for “companion computer” and you will get some answers.