Program an algorithm to stabilize a drone with 8 propellers

Dear freelancer, we need a programm which stabilize our drone at a certain hight. The propellers of our drone are different positioned than usual drones as you can see in the picture below. We want you to program the algorithm with enough comments, so that we can extend the programme to a certain amount. Therefore we want you to use python to program the algorithm. You can use the input of a several sensors, like ultrasonic, laser or an gyroskope. We want to use a raspberry pi as our micro controller, but if you have justified reasons to change to a different micro controller, we could go along with that. Further information regarding the project will you get after we contact you. Seeing forward to get in contact with you Kind regards Lasse Busert and Arne Falkenreck