Is there a way to directly control an ardupilot or px4 drone using usb connection with a computer?

[bentrixol]

I was wondering if there is a form to control a drone with ardupilot using the keyboard of my computer with a usb connection using code made in matlab or python, the drone is attached to a testing bench so i can connect de computer and the drone directly with usb, and if its possible can i make more raw commands like actuate separately the motors?. my question comes because all the information i have found is simulation in SITL.

[vooon]

For flying drones direct motor control is a bad idea, while in some condition possible...

Usually instead you tell the drone desired orientation or position and the flight controller does that.
That could be done via setpoint plugins.

But if you want to use keyboard, or some joystick - you may send the commands as RC Input overrides (rc_io plugin) or Manual Control (manual_control).