PX4 stabilized mode control

Hello,

I have pixracer communicating with my MCU over telemetry using mavlink protocol. I would like to use it in stabilized mode using roll, pitch, yaw and alt commands. 

I am able to set the stabilized mode and arm it, however I am not so sure about the control signal. I found the manual_control command, which sounds like what I want. Is it correct? I would just give it a try but I currently have only pixracer + gps with me. Is there a way to view the input commands via apm planner?

Thank you

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