Blimp/ Airship / Multi-rotor Flight control

Hello guys.
I am trying to make this blimp. Check out the video.

I am customising this to 4 horizontal propellers and 2 vertical propellors. I am confused about the flight control. The 4 horizontal propellors act just like as in a quadcopter. So I decided to use a KK flight control board. But how will I be able to programm for the 2 vertical propellors?

Can I attach the KK board to an arduino?

Or can I custom program KK board itself to achieve this?

Thanks in advance.