Edit the OPENROV 2.8 code

Hello there,

I hope you can help me. I am working on a project with OpenROV 2.8 that requires modifying the code. I need to read the values from the IMU and depending on them send the motors a PWM value.

I see that in the rovpilot plugin the function self.positions.yaw is used to know the value of the angle yaw, can I use that same command in any other plugin ?.

For the case that I am raising, do I have to create another plugin or modify an existing one? And how do I replace it in the original program?

I am new in programming and even more in the world of opensource, sorry if I have asked a very obvious question.