Power Rasperry Pi from Pixhawk Flightcontroller

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I've got a Hexacoper with a Pixhawk Cube Flightcontroller on it, powered by the Power-Brick connected to the LiPo. Now I want to use a Rasspberry Pi on the drone as a companion Computer and want to power it over the GPIO Pins. Can I just split the 5 Volts coming from the Powerbrick?

I haven't tried anything yet, because I don't want to kill it directly...

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