Good day @Fabio,
Once the "connection" is established you should get ALL info, what do you mean by this?
The autopilot will connect through 6000, modifying code can make it stop working and end up forcing you to reflash the SO if you don't know what you are doing. A clean SO with an unmodified autopilot will connect to APM Planner if the nodes are accessible through the network and the UDP connection is set up properly on the APM Planner.
There's ample documentation of this on this forum, please do look around and tell us again if you keep getting stuck.
You can connect to the brain through the network (either through cable specifying the addresses or through wifi, which is recommended as it's simpler) or through a set of telemetry. Connecting through the wifi hotspot is very recommended. Connection through USB otg is not currently supported.