Signaling APM ports from Raspberry Pi to avoid objects

[greatsum (oguz alt)]

Hi all,

I have a Raspberry pi that measures the distance between my vehicle and an object.
depending on the distance, i want to avoid that object. I am using an old APM. In which port should i signal? and are there any parameters that i need to set it up for that? can i mock the behavior of a remote control signal with my raspberry pi to avoid the object without changing the flight mode from auto to manual or guided?

[geofrancis (GeoMuir)]

APM controllers run very out of date software and are no longer supported, but should still work with guided mode if you want to send it commands from a companion computer.
https://ardupilot.org/rover/docs/guided-mode.html