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RTS2 is project to create an open source environment for control of a fully autonomous observatory. It is running about dozen fully autonomous observatories. Its modular design allow easily addition of new devices (to already huge supported HW list).
...The goal is to be able to command and view what is in front of the quadcopter with a camera. This is allready working using a python Webserver and streaming video from Raspberry Camera.
You can play also without camera support from command line with remote access.