Ok I think I have it working now, for the most part.  I am still refining the ultrasonic results but it does perform what I want it to.
I am adding the TXT file of my code so I can work on it at home.  It looks really terrible right now but it works, now to pretty it up a bit before posting it for sharing.  You should be able to downlod the txt file if you really want but I will add an arduino sketch once i have tested it out on the quadcopter.

https://www.dropbox.com/s/at5rpnige2im41s/front%20and%20back%20sensors.txt

Jimmy Chan is my partner in this project and he has made some 3D models for the sensor holders and cross bar connectors.  These will probably make more sense when I post pictures of the quad after assembly.

http://www.thingiverse.com/thing:285787
http://www.thingiverse.com/thing:282783

We will be using the schools 3D printer this week to make these parts and with a little luck maybe we can have some pictures, better looking code, and some video on our youtube site by this weekend.


for now these files are linked here for ease of access for ourselves to continue to work on things away from the school.

Feel free to check them out if you want.