Where do I start?
First, I assume Andy_L and Andrew_L are the same person.
Second, I hardly understand what you are asking for. What is “11 efficiency”? And you can ask for help, but “wanting” answers is not going to get you anywhere.
So you want to do a school project. That´s fine.
I do not know what guidelines you were given for your project from your teachers or if a teacher helped with selecting your project, but did you actually do some research, before you decided to build a copter?
RC vehicles alone are a wide field of knowledge and craftmanship, even without complicated things like autopilots. And among the autopilots Navio is special, because it needs a Linux computer (RPi) to work.
Emlid did a great job making the use of the Navio2 as easy as possible, but I still think a KK2.1 board is easier to use for a beginner.
And then you want to write your own INS software, which can not access the sensors while arducopter is running, so you need to use the sensor data arducopter is providing in its telemetry stream. That means decoding mavlink messages.
I try to list all the different tasks/fields of knowledge you have to cover:
Basic knowledge about PCs/operating systems (Linux preferred)
Basic networking knowledge (IP addresses, network masks, TCP, UDP, Ports, etc.)
Basic electrical knowledge (soldering, standard wire colors, avoiding ESD)
Knowledge about RC vehicles:
a. How do the controls work (even if you want your copter to fly on its own, you should know what pitch, roll and yaw means)
b. Setting up and tuning arducopter
c. Knowing how to use MissionPlanner to make your copter fly “on its own”
d. Knowledge about the regulations regarding RC vehicles in your country ( insurance, dedicated RC control required, allowed frequencies/transmit power for telemetry)
I probably forgot a lot of things I take for granted, but can you check any of the points I mentioned?
I do not know how long ago you started your project, but you joined this forum a month ago and that is hardly enough time to learn everything I listed above.
The easiest and most reliable way for telemetry would be a telemetry radio kit like this one:
I wish you all the best with your project.