Automated "RC" commands

Hi, I’m new around here and seeking for help.
I am building a tandem helicopter and want to check several things.
I want to send the helicopter a pre-defined sinus commands in Roll, Pitch, Yaw
and I don’t want to do it manually.

in other words, is there a way to send a “Pattern” which consist of commands to the “Lower control” (like the angles loops) and not the “Higher control” (like speed, altitude, navigation loops)

Is there a way to program a flight plan that does that?

Thank you