Y6 airframe with tilting motors

Hi all, I have an idea with the drone that will tilt the 2 motors of the hexacopter by actuating the servos at the end of each arm.

Where can I get started? I have watched and read the Geometry file description and flight mode / flight task description but still have no idea where to start tinkering.

here is a similar photo of the hexacopter:

photo from Quadmovr

Thanks :slight_smile: