How can I change the control law of my pixhawk?

Hello, I want to put my control algorithm on the pixhawk, I know it uses one PID controller but I want to put another one. Where and how can I do this? Thanks

No, it uses eleven different, cascaded PIDs.

More information is here

And there are two GitHub pull requests that already kind of do what you want.

Ok, thank you very much for the help!