How to send MAVLink commands from a Python program from Raspberry Pi?

Hey! I have read a question like this before but didn't really helped me. I would like to know what is the easisest way to send "Roll/Pitch/Yaw/Throttle" and "Flying Mode" commands to a drone from a Raspberry Pi that is connected via Serial Ports at the hardware serial of the RPi. 

I was able to do that by commandlines using mavproxy.py, but I would like to do that in a Python program for more complex applications.

Thank you for your time,

Tamás

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