Commanding pitch, roll, yaw and throttle to the pixhawk through the raspberrypi


I would like to send yaw, roll, pitch and throttle commands from my raspberrypi3 to the pixhawk (for indoor navigation).
Till now the only way I found is through Dronekit by “channels override”, for example:

vehicle.channels.overrides[‘1’] = 200

But then, I can not command disarm (the channel is overided).

Please Advise…