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For programmable open source autopilot: Arduino > Ardupilot (https://ardupilot.org).
I have similar aspirations. No books, but if you want an example of someone who’s done that before, check out drhemflight. It’s not fully autonomous, but it’s a modular flight stabilizer running on teensy, which uses arduino IDE
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.