Can I live with my dad?

Okay. when I was 8, my grandmother received custody of my brother and I. My mother had custody and we saw my dad on the weekends. So when custody was handed over to my grandmother, we still stayed at my dad's on the weekends. up until a year ago, after i turned 15, i lived with my grandmother. however, my brother and I have been living with my father. Which my grandmother believed she had the say so to allow. However, recently, my brother and I were removed from my dad's home and had to come back to my grandmothers because DCF looked into our case and my grandmother has custody until we're 18. My dad has to take classes at the harbor and DCF is doing random drug tests(which he is clean for). Then he has to file for custody and reopen our case. I just turned 16 and according to Florida law, i should be allowed to live with who i want right? or is this different?