It's all done through vnc right now so the latency is bad, but that's easy to fix by using a dedicated app.... window 0 is video, window 1 is the debug output from vnc, window 2 is the output from the daughterboard and also where you send commands to steer with. Using channel 1 and 2 for steering, channel 3 for tilting the camera (well, tilting the mirror) so you have 5 free for a manipulator or whatever. Also 6 slots for sensors.
I'd like to point out that unlike a Predator drone, the video and data feeds have proper encryption :P
Sorry for the bad quality of the external pictures: I use the G1 as my main camera and had to dig out an old webcam.
Code and schematics for the daughterboard available on request, if you want a built-up daughterboard I gotta charge you for it, though.