Autonomous Quad copter

Aim: Get a Quad copter to hover autonomously at 4 feet height, check for an object (i.e., 4 leds in the shape of \'T\' since a nintendo camera captures 4 leds and identifies its location in a matrix form) and maintain a 3 feet distance between the object and the Quadcopter.... if the object moves,the Quadcopter shoud check for change in distance and follow it to maintain 3 feet distance.\r\n\r\nI purchased an ST-360 quadcopter frame, a Crius all in one pro v2 , a red board to act as on board trasmitter and for distance code. a nintendo wii remote controller and de-soldered the camera from it and got the St-360 to fly stably with a transmitter/receiver.\r\n\r\nI need someone to write a code for the above aim. To trigger autonomous flight i used an xbee series 2 to send a signal to another xbee on board for autonomous flight. also for the quadcopter firmware i downloaded megapirateng on the crius all in one pro v2 nd used mission planner to set up stable flight.