After searching around and seeing several platforms i choose this one to start developing and modifying the drone platform:

https://github.com/alduxvm/DronePilot

mainly because they already have developed a hover software with a PID algorithm and the hardware is based on a raspberry pi/odroid.

mw-hover-controller.py -> Computer pilot commands (using a PID structure) to make a Multiwii multicopter hold a specified x,y,z coordinate.

Do you have any criticism to this choice or a better suggestion? Please comment.