Hi mate i think what you need to do is talk to Bruce who runs http://rcmodelreviews.com/forum/ Now the guys is an expert in electronics , and is working on a collision avoidance system , which is what you need it can be fitted on anything so have a chat with him and he may be able to point you the right way to go , most flight control boards with gps can be programmed to fly to way points and return home too
Check your spam box, i think it came into mine that way , if not go to his latest video and leave a message for him with your email address he will message you back