When connecting pixhawk to windows pc (usb–> com) the pixhawk send messages via Mavlink 2.0.
When connecting pixhawk to Raspberry Pi (telem2, 921620 baud) the pixhawk send messages via Mavlink 1.0.
simply because the default console setting is mav 2 and the rest of the serial ports are defaulted to mav 1. unless you have some special reason to stay on mav 1 I would move up to mav 2 as its the latest and greatest version. As far as I know you will not see any difference, and actually some new features like esc telemetry require you to connect via mav 2.
Thanks, so, I do I configure the serial port to use the Mavlink 2.0?
yes which serial port are you using to connect to your radio, you would go into parameters and set that SERIAL0_PROTOCOL (0 would represent which serial port you are connected to IE if you were connected to telem1 would serial_1, telem 2 serial_2 and so on, the usb is serial_0) to 2 which is mavlink 2. easy peasy
Thanks a lot. It is that easy!