Modifying Flight planner for variable-pitch quadcopter

Hey guys,

I’m building a larger quadcopter for a project. I have all the construction down and everything like that, just having some trouble with the code.

I was wondering if anyone knew if you can modify the Ardupirate or arducopter code for a variable pitch quadcopter?? I just need it to stabilize it, as the end goal is to have it to be semi-autonomous.

Your help, suggestions or resources would be greatl appreciated,

Harry