That sounds good. I'm using a 3DR Solo for the drone and it has a built-in computer so I should be able to run ROS on it like you're saying. Are there any ROS Libraries I should be particularly interested in?
I hadn't heard of the Zed stereo camera, what are you using it for? It seems interesting, I'm trying to navigate indoors, so it might be useful in determining how far to go. Would you be able to determine your height with it as well?