An upcoming release will include an RTSP video server and web interface including streaming video over http. The Pi Zero is also a very small footprint capable camera (the official Pi Zero case has a hole and holder for the PI camera), and Maverick automatically sets up the video stream and is easily configured to send it to QGroundControl and Mission Planner GCS. The next release should have full support for both Seek Thermal and Flir One thermal imagers. This is a before and after snapshot of a thermal stream watching the Intel Joule running a heavy workload (precision landing), created by mapping the thermal data to a rainbow palette in OpenCV, in realtime on the Pi Zero W:
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