Walking Robot with TX2

I am working on a hexapedal robot with a TX2 computer for mapping and navigation. I obviously have my own control algorithm for the robot. Although the capability of using it through QGroundControl or PX4 or some other would be really nice, then I can use them on any platform (mac, android, windows etc.) and I don’t have to make the GUI.
What would be the ideal way to do this? Should I just learn pymavlink and send udp packet in wireless, as if I am a drone?