Hello , i got a some confuse about the "controller" of APM ,  in auto mode ,the controller of rover use PID controller to control rover's turning & throttle.

If i wanna change the controller of Rover... is that possible  to use "arduino IDE" to change the PID to another controller like...Fuzzy or Kalman Filter?

if the method works, how should i start?Is the method compatible with Mission Planner?