Programming a diy drone

So i plan on buying the parts to make my own quadcopter with the intention of programming it. I cant find any material or tutorials explaining how this is generally done though, like what part of the drone would you connect to your computer to upload the code? I have a solid background in programming and i am familiar with libraries that will make programming a drone easier, but im just not sure how you physically add the code to your drone. Would it be done through the flight controller? Im lost, any help or links to helpnwould be great. thank you.

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