Can I use ROS to implement my own stabilization algorithm instead of using "take off" and "land" commands?

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I'm looking forward to have a real drone (not just simulation) to stabilize and navigate it, using my own control theories. As I've seen in videos and tutorials, flight stabilization is guaranteed in ROS; commands like "take off" and "land", provide user a safe experience of navigation alone. I need to access IMU data and set the motors rotation speed or voltage directly. Can I use ROS for this special purpose?

1. If it is possible, how should I get started to have my own algorithms implemented?
2. If it is not possible, Can you please suggest me another method to achieve this purpose?