Not yet.
But I think the way to go would be either by creating an entirely new multicopter-controller based on mc_att_control or writing a simple app depending on where you calculate your control inputs.
Both then need to be combined with a passthrough mixer (e.g. /etc/mixers/IO_pass.main.mix).
If you have done any work yet, please let me know, maybe we can combine forces if our research topics match!
