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If you want to learn how to build it from scratch, you can still look at Arducopter for the firmware. It's entirely open source, including the GCS's like Mission Planner, and you can look at how they implement control over telemetry radios (using a protocol called Mavlink).
I'm working on a very similar project. You can control it by MSP. See this repo as an example.
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.