Using Mission Planner with TTC32 as main controller (direction vector over CAN Bus)

Hello together

I’m working on a project with a Rover that has two powered wheels and four steered wheels. Now is the target to use ArduPilot with Mission Planner for the routing. The driven wheels as the steered, are connect over CAN Bus with the TTC32 control unit.

Now my Question is, how can I get a vector which tells me the direction and the target speed from Mission Planner? And is it possible to transmit it over CAN Bus? Does someone have any idea?

Thanks for the help

The used Components are:
TTC32 Control Unit
AK10-9 V2.0 drive engine
Cube Orange