Need help with SITL simulations

We're trying to build an autonomous quad-copter that is capable of steady flight and basic flight maneuvers (such as hovering at a particular altitude, flying circles etc). We aim to do this through a neural network. The problem we encountered is in the training phase, particularly on interfacing an external script (out training software) and SITL.

We have a simple neural net and the training script is to try out random actions, such as providing thrust to a single motor, and then use a fitness test to determine what the healthiest course of action for each batch was, and so on till it's capable of stable flight.

We wish to use SITL simulations to do the training, and i know I'll find it in the documentation but we're running short of time. I wish to know how i can interface an external script to give basic inputs to the SITL quad-copter in order to enable learning. A brief description and links to tutorials or instructions would be very very helpful!

Thanks you in advance!

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