PX4 Expert Needed for Industrial Quadrotor

We need develop a fault tolerant mechanism of a quadrotor, failed of one rotor. The drone should be capable of hovering or maybe even traversing a given waypoint or returning to home without crashing. There are many research and real implementation already in the world where the drone starts yawing upon rotor failure due to torque imbalance, and we are looking for a readymade firmware for our respect. We also need create a fault detection method and only on detection should our newly created firmware should be triggered.