Ardupilot on MEGA2560 with a Pi/Odroid for any video processing would be fine. You can get away with a 3500mAh battery on a quad w/ 1045 props & 1000KV motors for 15-20mins.
PM me for another great combination/consultation.
PM me for another great combination/consultation.
But the development mostly seems to concentrate around higher level, position and navigation controllers and there is a lot of complex floating point math going on there.