250 size longer flight time plus payload

I am building a project drone and need your help. Here is what I need it to do and have optional upgrades later.250 size and robustLong flight time 30 minsControllable tilt cameraArdupilotPosition hold indoorsSonar hoverFpv viewingLow costUpgrades later on:Sonar collision avoidance ringReturn to home indoors (mapping software I currently use in arduino)Any help would be greatly appreciated.

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