Self flying quadcopter

I am trying to design a quad copter from scratch for a competition. What needs to happen is that after ejecting our copter from a rocket in a 6in diameter 15in long tube, is that it needs to guide itself to fall in a landing zone. It will be falling from 4000-3000ft when it ejects from a rocket.

Our steps goes along something like this: 1) After ejecting from a rocket, a parachute will come out to slow our decent rate (our CG will be down low so it will be facing downwards) 2) Arms will deploy, and do a system check, and if everything goes right, the parachute will be released and the quadcopter’s propellers will start running. 3) Here, the quadcopter will guide itself to the LZ.

Our current bill of materials:

Primarily, we are concerned about the electronics/firmware used. We were going to use an Arduino with ArduPilot but it seems that the latest version doesn’t run with an Arduino. Would 2.9 work with an Arduino?

Any suggestions to the electronic list is welcomed.