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How to connect to a hidden WiFi network from the Raspberry Pi Zero W

Modify /etc/wpa_supplicant/wpa_supplicant.conf:

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

network={
	scan_ssid=1
	ssid="HIDDEN_SSID"
	psk="WIFI_PASSWORD"
}