Do you think the resources of one chip wouldn't be enough? I'd like to reduce weight, where possible. The mechanical structure will be heavy enough...
10 years is a pessimistic guess:D It'll definitely take a couple of years, especially after I read, that another well-known company tried to develop a V22 and canceled the project, because it turned out to be to complex. I hope my theoretical background in developing helicopters leads to success:D
You want to reduce weight, use a surface-mount minimal Duino like a Teensy or Nano or just chip in a socket with components and wires soldered to the socket legs.
Your motor-drivers and batteries will be massive compared. Even the wiring will weigh more.
I suggest sub-systems to make programming and design changes easier. But don't put full size Arduino's in there. Those are development boards.