Add new custom mavlink message for hybrid copter

Hai team,
I am using the hybrid drone. for that, I need to monitor engine parameters like temperature, RPM, etc.,
How to create a custom message and how to compile the firmware and how to compile in the cube orange.

For custom messages, I will follow this link: Adding a new MAVLink Message — Dev documentation

For firmware compilation any clear instructions are available please share them.

Thanks in advance.

ArduCopter already supports multiple hybrid motors, you should take a look at the existing code for generators ardupilot/libraries/AP_Generator at master · ArduPilot/ardupilot · GitHub

Asimple google search will give you Building the code — Dev documentation