Gimabl controller

I’m in process of making a search and rescue drone - I have a orange cube + and looking to build my own controller able camera 2 axis gimble system. What’s the best way to go about this as I basically want to be able to send the drone to a location, hover then be able to look around on a maybe separate ground station maybe. I know they make systems but I want to make my own to push myself and build it the way I want?