Pixhawk 2.1

How can I connect Jetson TX2 development kit to Pixhawk 2.1?

There’s a number of computer integrations with the Pixhawk listed on this page:
https://pixhawk.org/peripherals/onboard_computers/start

For example, the Raspberry Pi integration.
It turns out that the Jetson development board has a 40-pin header that has about the same pin-out as the Raspberry Pi, so wiring instructions for serial or I2C communications will likely work for that.
(Other modules, like the Odroids, also have this GPIO header layout.)
https://pixhawk.org/peripherals/onboard_computers/odroid_c1

As for actually doing processing on the Jetson and sending the commands to the Pixhawk, that’s something you should build on your own!