Alternative to Flight Tasks for outputting thrusts/moments?

Hello everyone,

I’m working with a multicopter and need to add a flight mode which outputs directly to the mixer. I understanding adding behaviours through flight tasks is now recommended, but as far as I understand, the flight task output is limited to one of these targets: PX4-Autopilot/vehicle_local_position_setpoint.msg at master · PX4/PX4-Autopilot · GitHub

How would you recommend I go about adding this flight mode without breaking compatibility with the rest of the codebase?