Build me a program

It is an arduino uno project in which I want to control a quadcopter but it is automated, and it is having no reciever or transmitter. The program I need is the one that uses gyro sensor(MPU-6050). Algorithm - 1- The motors are started at lowest speeds and they go upto somewhat high speed within 10 seconds, and these speeds are controlled only by the program written. 2- The gyroscopic sensor(MPU6050) stabilizes it throughout the liftoff. 3- The motors stay at the high speed for 5 seconds . 4- Then the motors go to lower speeds with the same acceleration that they went up with. 5- The MPU-6050 stabilizes it's flight throughout. 6- I'm using servo bldc motors, and 30A esc.