Odroid XU4 and Pixhawk -- 2

Hi, I have to do programming in either c++ or python for a drone that is fixed with pixhawk(flight controller) and odroid xu4(SBC or companion computer) and also a thermal camera. Programming needs to be done for a drone for three things, 1. Path planning 2. Geofencing 3. Image processing The idea of the project is to fly over a reservoir and to implement path planning for the drone, and also geo-fencing in case the drone goes out of the circle. While doing this, Drone has to take images using thermal that need to be processed ( red means water need to be treated) These data is to be sent to an external robot. I have attached a previous year report 7. The only thing that is different is they used raspberry Pi whereas I will be using odroid xu4