micro aerial vehicle

Hello friends
                  Am interested in designing a completely autonomous micro aerial vehicle.Basically the vehicle will be hand launched.It will have to follow a set of multiple way points (GPS navigation) and then finally land at a predefined spot(autonomous landing).I have been building RC airplanes for a while now.I just wanted to know if there is any low cost autopilot available that can be programmed according to our needs and can be used for autonomous landing.Am new to this field of UAVs, so please guide me.Also please let me know the various components(both on-board the vehicle and ground station) required along with the autopilot system.The MAV would be similar to this one...
https://www.youtube.com/watch?v=X-wud09EfME

Since a newbie,i want to keep the cost as low as possible.Suggest me a suitable low cost Autopilot with various components (viz.,gyros,accelerometers or IMU unit) along with the GPS module.

Thanks
Prashanth
                
                 

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