"Thanks for your answer. I need to grab sensors data, do fusion and send back data/control signal to the FMU. I am not quite sure how deep should I dive yet but it seems at least I have to control the throttle and torque directly. So I need to know…"
"Thank you Craig! Can MP or APM Planner also configure the native PX4 code, like calibrating the RC and setting the failsafe? I have tried but it seems they can not. Another question is that where can I find the corresponding source code of the files…"