Below is a link to our Github repository. It contains the software that we built to make this automatic flying machine! We created it all ourselves (with some help from various online tutorials, and guides). Here's what you need to know about the structure:
1) The main flight code is in the /flight folder. The software is a combination of all 10 arduino (.ino) files.
2) To use the software you need to have our version of the library downloaded. You can find this in /flight as well.
3) The software that we used for messaging (WiFi & UART) can be found in the messaging folder.
4) Likewise, the android app code can be found in the phone/OttoAndroid folder.