after Configuring ZOON modules, we need to set ardupilot serial port baudrate with the same baudrate of the ZOON. for this we need to follow these steps.
1. Connect Autopilot to PC via USB
2. Connect to Autopilot on Mission Planner
3. go to CONFIG/TUNING
4. go to "Full parameter list"
5. Set " SERIAL#" to the same baudrate of the ZOON configured, then hit "save". Note: # is the number of serial port which ZOON connected on autopilot
6.Set "SERIAL#_PROTOCOL" to "Mavlink" 1 or 2, hit "save"
now ardupilot configured, you can connect with ZOON modules