TAKEOFF WITHOUT USING GPS

Hi,
Im working on a autonomous drones and im using JETSON NANO and flight controller PIXHAWK .Im able to control my drone by giving rc commands on the MAVLINK terminal itself by connecting it with PIXHAWK but now i want a python code from which i can do some operations like:
takeoff,left ,right,forward,backward…and i am not using GPS…
Can anyone please help me…

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