I have a plethora of downloaded documentation and have yet to get a handle on the firmware itself.

Can the firmware be completely rebuilt from the arduino package?

I would like to make some major modifications to my quadcopter (APM 2.6) and some of the modifications might be be better employed as a modification of the firmware rather than just adding more programming that occasionally ends up fighting the firmware.

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yes of course, just like any thing else that is open sourced and/or shared in a Git repo.  If you don't know how to build software or firmware from source though. I would strongly urge you to take some time to polish your skills before making "major modifications".  In any event, good luck.

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