Can Mission Planner connect to an SBC without a flight controller?

I run single board computers (SBCs), such as UP and RPi. Both have peripherals like GPS, Roboteq speed controllers, RealSense, etc. connected via USB, serial and pins. I love the Mission Planner. Is there a way to connect Mission Planner to an SBC? Has anyone tried to take AP and run it as a service on an SBC? Instead of adding a flight controller?

I realize I can add a flight controller. Seems like enabling AP to run as service on an SBC would be incredibly powerful.