Arduino flight controller code.

I am making a fixed wing aircraft. I am a programmer myself so I will be completing your work I just need well commented code with easily swappable parameters. The flight controller will be provided gyro, accelerometer, magnetometer, gps, and barometer data in the form of floats, ints, and strings. It will also receive data in the form of strings and ints from a custom made transceiver. This will be data such as desired position tilt orientation speed ect. I will handle providing your code with all the required data I just need the mathematical and aerodynamics part done for me. I will also tune the code afterwards to make it work for my specific aircraft but it must be easily tunable and testable. I want the program to have variables for all the inputs described and variables for outputs such as servo positions motor speed ect. I will write the code to fill and retrieve data from these variables. Use of Code libraries and existing open source software is acceptable but it must fit the requirements and be well explained and easy to use. All of the hardware for this is very custom built and it will not work with many industry standards. Autonomy is a consideration and basic autonomy will be expected but complete autonomy will likely not be. It must be able to receive controller input. To be considered please provide a summary of how you plan to complete this task.