Most Arduino Drone projects are optimized for AVR processors by writing directly to registers and use other AVR specific functionality (e.g. timers interrupts). The multiwii project is a good example of this and it would take quite some effort because this logic is distributed all over the place.
I adapted the CodeDroneDIY because I only needed to replace the MotorsSpeedControl.cpp with a implementation which uses my PicoPWM class.