Advice for Low Level Control Development

Hey there, i’m working on setting up a hardware implementation of variations of the original minimum snap trajectory pipeline by Mellinger and was wondering about the optimal approach. As a first step, my plan is to get either a ground control station or companion computer to compute a wrench input (thrust, Mx, My, Mz) that px4 has to run either via a live broadcast or as a sequence of stored open loop commands.

I’m aware of similar attempts like:

But I’m beginning to think that the ideal method would require me directly write to actuator_controls_0. Would this require a dedicated flight mode app on the px4?