tipping drone

So I'm new to the software systems and programming side but not new to the mechanics of the drone world. I build and have built many DIY Drones including: -Tarot 1100 Octo, 1760 rotors, 300kv Gartt motors, 40amp esc's, 2x 6s batteries, ardupilot 2.8 apm, hobbyking 6s PDB. - I have a custom build...