UAVCAN ESC output limits from MC Attitude controller

Hi, everyone.
I am trying to modify the existing multicopter attitude controller and have it set motor output limits when a certain condition has been met. I found that what I am trying to do is actually very similar to how vtol attitude controller turns some motors on and off inside the vtol module. However, the vtol module sets the ESC limits by writing to a PWM output device. I am trying to do the same but using UAVCAN esc’s. Also, I need to set the limits of each individual motor output.

I am still very new to px4 but I have a lot of experience modifying ardupilot. If anyone could help and point me in the right direction I would greatly appreciate it.