ArduPilot Drone Configuration Coding

I have a multi-rotor nanodrone running ArduPilot that must fly semi-autonomously via GPS waypoints. The core of the job is to configure the ArduPilot stack so the craft can:

• Accept a pre-loaded waypoint flight plan
• Accept inject, delete, or reorder waypoints in real time through a long-range data link
• Provide the FC ready to integrate: on-board camera, LiDAR, other UARTS devices
• Execute a dependable Return-to-Home routine triggered by failsafe, low battery, or a command from the ground station

I already have the flight controller, ESC, batteries, motors, associated wiring, and drone frame

What I need is the firmware configuration, leveraging COTS Ardupilot and MAV-link. At power up, the drone shall arm and launche with minimal manual intervention, besides the initial off-board command to launch.

Acceptance will be based on a short demo and flight log: the drone must follow an uploaded route, accept a live waypoint change, return home on command, and/or at a predetermined power state.

All modified code, configuration settings, parameter files and a brief “how to repeat” document are expected at hand-off so I can reproduce the setup on a second frame later. The IP remains that of my company.

Requirements:
-US Citizen & proof of citizenship
-only NDAA compliant parts
-1-2mo or less to delivery
-sign and NDA

Highly desired:
-NE area of USA, or eastern half of USA.

If you’re up for the task, reach out!