Pixy cam with ArduPilot

We are building a quadcopter where the main brain is an Arduino controlling a FC, after I found ArduPilot I was wondering can I directly integrate the code of pixy cam to the ArduPilot?
I saw that I can upload the ArduPilot software to Arduinos but not sure if I can modify it.

ArduPilot code no longer fits on Arduino boards. It needs ARM based boards.

More info about the dozens of supported hardware options are described here:

As Ardupilot is open source, yes you can modify the code and integrate the Pixy code into Ardupilot.

Ardupilot already has support for pixy cam http://ardupilot.org/copter/docs/precision-landing-with-irlock.html but you can improve it an/or expand it.

Thanks for replying, alright great, gonna look at this and search even more

Here is a flight controller with 2Mb flash at a reasonable cost: Pixhawk 2.4.6