For softap, there are references
here on how to enable
At some point more flexibility will be added for camera configurations. Right now the shipping configuration is all that is supported. There is already a tracking camera at 45°. You should be able to create a mount to point that straight down if you prefer.
Only one active gstreamer instance for each camera can be running. The camera servers use gstreamer to get the camera data and publish that to a named pipe. So if an instance of a camera server is running, then a new gstreamer instance for that same camera can't be started.
MAVROS is not pre-installed. That is planned in a future version of the SDK, likely one or two months away. We do have customers using it today though. Note in offboard mode the default behavior is a figure-8. See post
here for the fix
