Pixhawk -> Raspberry -> WIfi <--> Mission planner?

Ground Control Software Mission Planner
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Hi, I’m using a pixhwak 1 with ardurover connected to a raspberry pi through a serial link. On raspberry I’m running mavros. Raspberry is connected to a WiFi network. I have a PC connected to that network and running mission planer. Is there a way to connect MP to AP using this setup?

Thank

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Yes, you can forward the telemetry stream using MAVProxy or mavlink-routerd.

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Another option is ser2net forwarding over TCP or UDP.

Skip to 2:20 for a tutorial on that (it would work nearly identically with your companion as it does in this example).

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any guide on this? I can’t find much information.

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