Help/Advise for Developing a Custom Control Laws

Hello all,
I am new to the PX4 scene and need some help/pointers. I am currently developing control law using RL trained offline. I need to grab sensor data from all the goodies on the Cube Orange+ FC and run them through some function approximators to generate desired control. I’ve been reading through the mc_att_control, mc_rate_control, and mc_pos_control modules to try to reverse engineer them but keep getting lost in it. Is uORB how I get all my sensor data? Is the class structure of all the controllers required? Will things break if I go outside of the structure all the controllers in PX4 seem to follow?
I’ve already created a new module with the template files and set up the CMake files to run the controller.

I will appreciate any advise!