New sensor driver testing

Hi everyone,
I am trying to develop new sensors drivers for the PixHawk (specifically the BME280 weather, MAX44009 light and INA169 current sensor) placing the class files respectively in the library folder.
Now, I’m left with debugging, I noticed there is a HAL console interface, but how can I run the sensor code and maybe print out readings? How to transmit data over MAVLink to a GCS and a companion computer? I have already created/upgraded MAVLink messages to include sensor data.
Thank you