It's hard to answer this question without knowing more precise values for "good range", "reasonable flying time", and even "ability to be programmed". At this price point, I think your only option is to buy an off-the-shelf quadcopter and modify it yourself. The $30 Hubsan H107[0] can be reflashed with an open-source firmware[1], although you won't be able to process video from the camera using the onboard MCU.
[0] https://www.banggood.com/Hubsan-X4-H107C-2_4G-4CH-RC-Quadcop...