I’m not sure what you mean by use mavlink. It is possible to receive mavlink messages in a Lua script. Michael starts going through receiving a command long message here by doing LIVE coding. I don’t think sending them as been added. I created set_output_pwm_chan_timeout exactly for the case of doing a doublet. I’ve gotten a little carried away with adding little bits and pieces to it. I just tested that it ran today and pushed to share it here. Still need to test in SITL and on the ground.