I am trying to build an autonomously soaring sailplane - to accomplish this I am experimenting with reinforcement learning. The APM has all the I/O that I need along with the onboard IMU and GPS.
So my question is - can I write custom code that only has access to raw sensor data and can send custom signals to actuators?
Essentially I do not want to build the hardware myself if everything that I need is already present on the board. I just want to know if my own code will work on the APM without having to upload the ardupilot firmware on the board.