Getting 1 digital signal from pixhawk

Hi,
I am studying on autonomous drone project. I need 1 signal be able to activate mosfet circuit at the specific time from pixhawk mini4. I need to write code in respect to this then I will upload raspberry pi. However, I don’t know what subject should search. Can you give me a advice? Thank you.

Check the ardupilot relay output

https://ardupilot.org/copter/docs/common-relay.html

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