Px4 mission mode control

PX4 Autopilot
1

I’m currently working on a PX4-based Ackerman steering rover. And what’s required is to control it using MAVLink commands. Even though it changes between arm and disarm, no other command or signals are being processed; we need to set local setpoints and navigate the rover through them. The current model has a GPS connected to it, and as a future upgrade, I’m planning to use optical flow for indoor navigation. Is there anyone who has tried a similar scenario?