New flight mode in Arduplane

I need help. We have a tri-copter that transitions into forward flight, then transitions back to a tri-copter for landing. The problem arises when we want to land on a moving ship. The landing mode can’t keep up with the ship. How can I create a new mode where the motor-tilting mechanism/hover allows for more forward speed to complete the landing? I have experience modifying and compiling the code, and we’re using a Pixhawk cube.

Someone suggested changing Q_ANGLE_MAX but that affects the body angle. I need to stay close to flat in order to land.

Might be better to ask about Ardupilot in the ArduPilot forum:

Thanks. I’ll go there.