No ROS is not what you need. I've been using ROS for 2 years on my Erle Brains. It's used to control the autopilot that is already running. You want your own flight controller. I doubt that Erle will be able to support you however, as they wouldn't know if your code was wrong, etc. You would need their advice on accessing the sensors directly, and writing to the PWM rail. In my opinion (and is what I'm doing), I'm getting it working on a Raspberry Pi first, with the sensors.