The idea behind this project is to build something simple yet expandable.
The original board has only the most important sensors, nothing more. With 8 input channel and 16 output channels using PCA9685 . For IMU I used MPU9250 also Baro BMP-180. For voltage sensor you need ADS1115.
You are free to add extra sensors via I2C extension. a LIDAR of OLED is a possible extension. The board is completely open-source and Ardupilot releases supports it.
You can use RPI-4 board and have a camera on-board and make use of cloud.ardupilot.org for video & control over Internet using DroneEngage.