drone hardware configuration

[allegorywrite]

Hi! I have a question about the drone hardware configuration used in the Micro Swarm in the Wild paper. What wiring methods are used for the connection between Jetson Xavier NX and PX4? Is it a USB port attached to a carrier board? I'm also wondering how to connect to RealSense and to supply power to Jetson in parallel from the battery. Thank you for answer in advance.

[bigsuperZZZX]

1. We use UART to connect to PX4.
2. RealSense is connected to Jetson via USB along with power supply.