MAVLink component to act as Auto-Pilot

Hello everybody! I want to create a script to act as an Auto-pilot. The idea is I have an auto-pilot application which is not ardupilor nor PX4. I will create a wrapper between my autopilot and the autopilot script that I wrote. I want to send data from QGC to this script and wrapper will convert it to a data type whch my auto-pilot will understand. I am able to send heartbeat from auto-pilot script to QGC by using pymavlink yet I am not sure how to send all the data QGC needs to see my script as a drone. Do you guys have any idea about it?

i think you cannot use here Lua script for Px4. need to go into Ardupilot community