I also have an Rpi camera module hooked to my PXFMini with a PiZeroW. I'm not sure how to make it take a picture at each waypoint set in my GCS. Normally you would use the CAMERA_SHUTTER or whatever that value is when creating your flight plan to make it press your regular camera's shutter button with one of the spare servo ports. But how can we tell it to take a picture/video from the RPi camera module instead as part of a flight plan? One idea I had was to have it just take pictures every 5 seconds or so and make the flight plan hover for 10 seconds at each waypoint to make sure a picture is taken there. Another question I had was how can we make it geotag each picture from the Rpi camera module using the ErleRobotics GPS module? I'd like to put the images into my GIS software (ESRI ArcGIS) to stitch together into a geo-mosaic tiles layer like you normally see with aerial photos.