Drone control using 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 thermal camera. Programming need to be done for drone for 3 things, 1. Path planning [login to view URL] 3. Image processing The idea of the project is to fly over a reservoir in singapore (Pandan reservoir), and to implement path planning for the drone, and also geo-fencing incase 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 external robot I will attach previous year report. The only thing that is different is they used rasperrybi whereas i will be using odroid xu4