Hm... good question.

Quickest solution for right now is probably to just use SetXCommandsFromRC(stabilization_cmd, radio_control.values); instead of writing to commands directly (although the name stabilization_cmd is a bit misleading then...)

However we have to rethink the whole organization of the different stabilization modes and commands anyway (e.g. if you don't want to run a stabilization algorithm as for the Parrot), maybe with your generator...