My device requires to partially change the firmware for arducopter

I work with mission planner. I want to keep the same features offered by the developers in their software, but management of the motors to carry out on its own. can I change it for my purposes?
I want my device up by using the bottom motor to a height of 2 meters, and then moved horizontal with the help of a pair of rear engines. the possibility of flight from the points should stay. if possible, how this can be feasible?

Use arduplane FW it already includes that feature. Seach for VTOL in the documentation.

1 Like