Programming Pixhawk for custom flight

I was wondering if anyone can point me in the right direction. I've been digging around the internet for a long time looking for tutorials for either PX4 or APM. I have a fixed wing airfraft with a pixhawk controller on board. I would like to know where I need to look to program custom flight patterns while following waypoints. For example, I want the plane to do a barrel roll while going to waypoint B. Which part of the PX4 or APM code should I look at? Thanks guys

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