I have been successfully flying a DJI Flamewheel F550 with a Naza controller, DJI stock motors/ESCs, etc for about a year now. I love it. However, I'm interested in autonomous flight utilizing waypoints and flight planning software. Because of that, I'm thinking of retooling the hexarotor to APM or Pixhawk. Can anyone point me to write-ups or posts that get to the ins and outs of this issue? There are many feature comparison posts but none that I can find that outline the process of making the switch. I'm particularly interested in what equipment I can repurpose vs. replace in order to understand the financial committment.