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Calibrate ESC with Raspberry pi

I’ll admit, I’m really new to working with this stuff. I have a pixhawk 4, I have a basic ESC, a computer with QGroundControl, a raspberry pi 3b+, t200, working power supply and now all I need to do is calibrate the ESC. Do I need to use the pixhawk through the Pi or can I write my own code in python that helps me calibrate said ESC?