What is the first step in building your own autopilot? From where I should start?

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Im intrested in this, I tried to investigate to build a drone controled by a android smartphone. Im really intrested into make it follow me arround, any place I should check? Ideas?

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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