Hallo, I'm Srikanth. i have built a quadcopter with Naze32 board. Now I wanted to modify by the Naze32 board by replacing the new controller in the place of old STM32 controller and also have to change the code accordingly. I want the help in modifying the complete code by making it suitable for the new controller within the old Flight controller (FC) board. I have already wished the hardware stuff but left with the software. Could any one help me in changing the code. Its very urgent and i have only 5 days left to complete it. For further details please mail me firstname.lastname@example.org.