Python file to operate the quadcopter

Hi,im using pixhawk 2.4.8 and jetson nano.I’ve integrated pixhawk with jetson and able to send and receive commands like arming,rc commands.
Now,i want to make a python code for doing all these procedure like firstly arming it then takeoff then hover and at last land…i tried dronekit library for this but it’s not working because im not using GPS in my drone…
Please help me that how can i make such code and which library should i use…Please keep in kind im not using GPS…!!

if you are using MAVSDK:

Note: Test everything in SITL first to be sure about your script.