Implemeting both rover and plane code on one FC

I am looking to implement a vehicle that needs to run both plane code as a glider and switch to autonomous rover code once it lands. Is there a way to do this in the existing plane or rover code? How hard would it be to compile my own firmware in order to add either rover auto mode to arduplane or plane code to ardurover?

Worst case I will either run two instances of ardu___ on an RPi or just use two flight controllers.

Thanks for any help!

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