Just found this:
It will launch in August and it’s a smaller alternative to the raspberry pi.
It also comes with several ADC and a real-time clock, a step-up converter (for powering it from a 3.7v lipo), more GPIO and best of all – raspicam compatibility.
It runs stock raspbian.
I think I’ll order one. It will allow me to make a smaller quadcopter case and possibly get rid of the crius board entirely and replace it with a way smaller IMU.