Control Gimbal and Camera directly (no mission, without arming etc.)

We want to control Gimbal using dronecore library directly with no mission and not arming.
Now we are able to control gimbal directly with mavlink commands ( not using dronecore ). We want to know, is it possible to control gimbal (set yaw, pitch etc.) using dronecore directly ? If yes, please write how ?
We are using dronekit library to send mavlink commands now.