(NEED HELP) Change some files on ArduPilot and compile it

ArduCopter
1

Hi,
I’m using PXFMINI (erlerobotics production) on raspberry Pi 3 and installed escarlata on it.
How can I change ArduPilot codes and compile it to not access PWMs via I2C?
I want to write my own Controller to drive a drone. I’m using imu data with ROS, and I want to access PWMs myself with PCA9685 that embedded on PXFmini .

2

If there is another way to access PWMs or motors speed from ROS or somthing else please tell me.

3

Read the developer information on ardupilot.org it explains how to compile the code.

4

I know how to compile it, I want to know how change the code to not access to PWMs.

5

Can I compile ArduPilot to just send sensors data?