Thanks for setting me straight on the flight controller. The code base assumes a pixhawk.

https://github.com/KumarRobotics/kr_autonomous_flight/wiki

I finally got my camera working on my pi 4. Now actually working on drone code integration.

https://www.amazon.com/gp/aw/d/B08NP2MGMH/ref=ox_sc_act_image_1?smid=A3BO1Y2JPVIMK4&psc=1

This kit looks promising.