CAN for Motor Control on Rover

Hi there,

I am considering using a PX4 as a controller on a Rover for many of itโ€™s more advanced features. The rover already has an integrated rudimentary controller with a CAN interface (actual CAN and not Cyphal). It takes in a forward/backward and rotational velocity as input but has no further logic.

As far as I understand, PX4 generates Output via the PWM Outputs for main and auxiliary signals. Is there a way in PX4 where I can code my custom CAN messages and get them as output from the Mixer/Controller instead of some PWMs?