with these two parts i hook up, then hook the motor dirctly to it?

That is not what Chelmi said! Re-read his post. You can not connect a motor directly to a processor pin.

To pick a battery you need to add up the current draw from each piece (processor, wireless, motor) and multiply the current (Amps) times the number of hours you wish to run (10 min = 0.166hr) times 2 will equal the Amp-Hour capacity of the battery needed.

So lets pick some numbers (yours will be different so look them up in the data sheets or measure yourself) to show an example.

Processor = 20mA

Wireless = 50mA

Motor = 200mA

total = 270ma = 0.27A

times 0.166 hour = 45mA-Hr *2 = 90mA-Hr is the smallest battery needed to run for 10 minutes with the 3 parts listed.

Steering could be done by using a servo to move a rudder behind the propeller.