I am part of the Vertical Lift Research Center of Excellence VLCOE http://www.vlrcoe.psu.edu/ And as a side project we would like to contribute to the px4 community with an implementation of a Dynamic Inversion controller for Multicopters.
We would probably need some help from px4 developers, in order to properly integrate this to the source code. We have some experience building custom Firmware for our AVIA lab https://www.aero.psu.edu/avia/ But again, having a contact to whom we could ask for help would be great.
Is this something interesting for you guys??