Would I have to fly to another state for a custody hearing?

It depends which state and county has jurisdiction. I would need to know many more facts about the history-where the child was born, which parent lived where, from which state/county the orders originated from. If for some reason PA would have jurisdiction, you can petition the court for a transfer of jurisdiction. It doesn't sound good if the child lives with him and has so for some time. Review the case in person with a family lawyer.