@peterbarker is working on an APSync image for the BeagleBoneBlue to help people get started with it more quickly.
At this point APSync just sets up a wifi access point for wifi telemetry and video. Also for the BBBlue the image will have ArduPilot running on there as well (Rover, Plane, Copter, Sub or Tracker). If you have time to pop-in and help us with that we're on the ArduPilot/Companion gitter chat. In particular we're struggling a bit with the streaming video.
No pressure of course, thanks!