Unmanned Aerial Vehicles (UAVs) have rapidly evolved, becoming integral in various applications. The software that powers them is a critical factor in their effectiveness and versatility. This talk will present the development of a vision-aided software stack for UAVs, which focuses on effectively managing and providing camera streams to the topside computer. We are excited to announce the upcoming release of a new open-source project. This project, meticulously developed using GStreamer and MAVLink, delivers top-tier, versatile solutions for UAV management. It highlights our commitment to integration, performance, and broad applicability in the UAV domain. In conjunction with PX4 and/or Ardupilot, this software can be operated on powerful computing units provided by SoC vendors, utilizing hardware-accelerated video capabilities to perform critical functions as the mission server.