Programming autopilot modes questions

Hey guys,

I have just started to use ardupilot quadrotor. I am required to come out with an autopilot programming code.

I have a few qns. 1) What are the ways to program an autonomous flight? is it possible to write a program code and sync it to the APM? 2) what programs is recommended to type the program codes if it is possible? matlab/Simulink/C#/C++/python/java

thanks for the help

You can perform autonomous Missions with ardupilot