Hello there, i need a lot of help from you...i got some project with quadcopter

first i must make my quadcopter fly autonomous with the distance from ground that have been decided 

example the distance is 1 meter. i dont know how to make the code and what program must i use

the component that i use is: 

px4 flow kit and pixhawk

and then the second project is to make the quadcopter detect if there is an object like this in the video

http://ardupilot.org/copter/docs/common-rangefinder-lidarlite.html 

please help me to make this project i am really need help

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