Controlling Pixhawk 6c drone through python code sent from Jetson Orin Nano

Hardware Pixhawk family
1

I have built a HolyBro x500 V2 drone and attached a Nvidia Jetson Orin Nano and an Intel RealSense d435i depth camera. I want to connect the Jetson Orin Nano to the Pixhawk 6C. Then I want the Jetson to run a python script that tells the drone to follow a specific path which I will have manually outlined via GPS positions. As the drone is following this path, the depth camera will be looking for trash on the floor. When it finds a piece of trash on the floor, it will not continue along the default path. I want it to stop moving instantly and I want another function to be executed at that point that uses the camera to identify the relative position of the trash and navigate to it precisely (So if the camera finds that the trash is forward and to the left, the drone will barely move forward and left and then re-check the relative position, if it is still forward and left, it will continue to incrementally move forward and left until the trash is only forward or only left at which point it will move receptively until the trash is perfectly under the drone at which point the drone will descend). Once the drone has landed, the next part of the code will tell a claw (also attached to the drone) to close and pick up the trash. Finally, the code will instruct the drone to return to launch and release the trash.

I have a few questions regarding this and would greatly appreciate it if someone is able to help.

  1. From my research so far, Pymavlink seems like the best library for this task, Is this correct?
  2. I want to begin by testing the sample code given in this repository such as takeoff and land and then test basic movements such as moving to one waypoint and landing and then moving using the ATTITUDE_TIME command. When I run these, will the drone begin flying as soon as they execute? Or will the instructions just be uploaded to the pixhawk and it will wait for some other input to begin? If the latter, what is this input?
  3. In theory I believe my idea should work, the only worry I have is the ability to stop the drone midway through its journey to a waypoint, Are there any major issues in my idea? Is it possible to stop the drone after it has been told to go to the next waypoint?

Please help me with this.

2

Yes, pymavlink and the hardware you have are capable of doing the job.

Yes it is possible to stop a mission by switching to guided mode.

Start by using sitl to test this and learn the basics.