...a new way of moving around!

Hello people!
I decided to try Ardupilot on my new, super-experimental, ground-breaking drone design. But as the code is quite extensive, it’s hard to find my way around.
So this is where all you experts come in! :wink:
The goal is to create a new flight controller scheme, based on the X8 configuration. What I would like now is for someone to point me to the code that does the moving around of the drone. That is, the files or classes that take movement commands from the autopilot (stabilization, steering, motion etc) and translates them into commands for the actual motors (throttle, PWMs etc)
Hopefully when I get my entry point, I will manage to navigate through the code.
Your help will be much appreciated!