A new class for new frame type (read: Drone Design). How can I do that?

Please someone help add a new class for conversion of commands into motor outputs based on a new mathematical expression specific for my own unique drone design…
I’ve written about the isse in detail with images attached here : https://engineering.stackexchange.com/q/23556/17365
Supposing if I add code for my new design successfully, now do I need to change something in the dronekit python as well provided I’m using it?
What’s the case for the same in dronekit SITL?
As I understand so far, Dronekit is just for communication to ArduPilot over MAVLink in python…right?