If the gate saturation voltage is 5 volt or less then you can use the output from a PIC to "trigger" a MOSFET.

Get rid of R2 and Q2. R1 should go to GND. A high from the PIC turns ON and when the PIC is not high, R1 turns the MOSFET off.

Check the 510 data sheet. 10 amps might be pushing it.