I wish to recreate the avoidance for MAVSDK-Python and for that I need to replicate the CompanionProcessStatus msg (status 4 to comp MAV_COMP_ID_OBS_AVOIDANCE) through python (preferrably pymavliink but any soultion will be really helpful). Any help and clarification on this would be highly appreciated.
So do I understand it correctly that you would like to write your own avoidance but on top of MAVSDK-Python?
This would mean that you probably need to add your own (C++) plugin which implements a few MAVLink messages. Once that works in C++, we can help you to get it exposed in the Python API.
What you can’t really do is to add functionality directly in Python.