Sorry friend, going to shoot you down.
build a quadcopter with rotors that can tilt to increase the drone's flexibility.
The Stingray 500 is an amazing piece of tech. It is a rotorcraft (heli). So this is possible for tilt of this nature. Caveats include complex engineering considerations, considerable drag, and the build wants a single power plant like Curtis. A single power plant is a more complex and more drag. I love it, but a serious project.
If you mean angling the motors with fixed props, that is not a good idea. I have seen a few pull it off. It is very low performance and I think the paradigm is not technically viable. It appears the weight necessary to have a rigid enough form of "hinge" is quite large. As you scale down you will lose key functionality such as active braking, all sorts of "floaty fun", and a drop in power.
Performance-wise, a "hinge" mechanism is going to add considerable noise to your PID loop. Even on a KISS board that will be difficult to tune out.
The torque of a small 1404 motor with 3" props on 4s is VERY SERIOUS. They start and stop in fractions of a second. The mass * speed is a lot of energy, it will rip apart a "hinge" mechanism if you build to a typical FPV spec. That spec is one of speed and agility. Lightweight use would do well, I have seen many designs over the years.
Regarding Python, @Robin Bennett is correct. I am a career Python programmer and it is just not up to snuff. I also work in C and CPP, there is little choice. The modern flight controllers, generally Arduino derivatives, are high-performance microcomputing that is damn hard to beat.
As a commercial FPV pilot, I can tell you that an X-Box controller is a really bad idea. The throw is short, the pots are shit, and the travel is linear (I think). Despite the controller being proportional, it operates a lot like a button (boolean). I have used X-Box controller to fly sims, I can hang, but in the real air, everything is different. I use a FRSky Xlite currently, the sticks are ~2/3 the size of a FRSky Taranis. The Xlite limits my capabilities. I have become accustomed to it, but is like driving a jeep versus a BMW in how exact the response feels.
I hope that helps out. I applaud the ambition, we experiment a lot here cutting our own frames, PCB, etc. The general form factor of an FPV drone is settled for now. Innovation is focused on performance, miniaturization (for the sub-250 gram field), and refinement. Besides DJI's digital goggles, I can't think of anything really mind-numbingly awesome in the past few years??? Suggestions?