I got the Intel Aero RTF drone and I know the PX4 flight controller contains 6 PID controllers for the position and attitude control, and I know we can change the PID parameters for these controllers with QGroundControl software.
What I want to know is that can I develop other kinds of controllers like optimal controllers or model predicting controllers to replace the PID controllers inside the flight controller? Is that possible to do that and how can I achieve that? It would be great if you can give me some references. Thanks in advance.