It's software to tell the pilot where to go (who in turn uses the autopilot quite often), and software to point the camera in the right direction and trigger cameras (pointing at the ground).

All up it's 9 processes talking to each other over zeroMQ.

Most are ruby, the camera and IMU are C++. Due to using a simple messaging system I can throw other languages in. Only one part uses any significant CPU and maybe Crystal can help with that. Should be easy to port over.