MAVlink Message to control flight on Arcade mode - control

I hope someone can help me in controlling the uavin arcade mode.
I do want to control the uav in attitude arcade mode so that I do want to send a message from the joystick/controller to autopilot to control the attitude. To control the attitude of the UAV what message I should send to autopilot using joystick/controller?
This is bit confused me. I can see there are some messages to control attitude in rates not with the angles.

In addition to that is there any recommended RC that support MAVLink?