diff --git a/camera_server.py b/camera_server.py
new file mode 100644
index 0000000..3124ed1
--- /dev/null
+++ b/camera_server.py
@@ -0,0 +1,183 @@
+#!/usr/bin/env python3
+"""
+WireClaw — Pi Zero 2W camera server
+- MJPEG local stream on port 5000 (Flask)
+- RTP H264 stream to Jetson 192.168.1.84:5600 (GStreamer thread)
+"""
+
+import subprocess
+import threading
+import time
+import logging
+
+import cv2
+from flask import Flask, Response
+
+# --- Configuration -----------------------------------------------------------
+
+JETSON_HOST = "192.168.1.84"
+JETSON_PORT = 5600
+
+MJPEG_PORT = 5000
+MJPEG_WIDTH = 640
+MJPEG_HEIGHT = 480
+MJPEG_FPS = 15
+MJPEG_QUALITY = 80  # JPEG quality (0-100)
+
+GST_PIPELINE = (
+    "libcamerasrc ! "
+    "video/x-raw,width=640,height=480,framerate=15/1 ! "
+    "videoconvert ! "
+    "x264enc tune=zerolatency bitrate=1000 ! "
+    "rtph264pay config-interval=1 pt=96 ! "
+    f"udpsink host={JETSON_HOST} port={JETSON_PORT}"
+)
+
+# OpenCV capture pipeline for MJPEG (reads raw frames from libcamera)
+CV_PIPELINE = (
+    "libcamerasrc ! "
+    "video/x-raw,width=640,height=480,framerate=15/1 ! "
+    "videoconvert ! "
+    "video/x-raw,format=BGR ! "
+    "appsink drop=true max-buffers=2"
+)
+
+# --- Logging -----------------------------------------------------------------
+
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(message)s",
+)
+log = logging.getLogger(__name__)
+
+# --- GStreamer RTP thread -----------------------------------------------------
+
+_gst_proc: subprocess.Popen | None = None
+_gst_lock = threading.Lock()
+
+
+def _gst_worker() -> None:
+    """Run GStreamer RTP emitter; restart on failure."""
+    global _gst_proc
+    cmd = ["gst-launch-1.0", "-e"] + GST_PIPELINE.split()
+    while True:
+        log.info("GStreamer RTP: starting → %s:%s", JETSON_HOST, JETSON_PORT)
+        try:
+            proc = subprocess.Popen(
+                cmd,
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.PIPE,
+            )
+            with _gst_lock:
+                _gst_proc = proc
+            _, stderr = proc.communicate()
+            rc = proc.returncode
+            if stderr:
+                log.warning("GStreamer stderr: %s", stderr.decode(errors="replace").strip())
+            log.warning("GStreamer exited with code %d — restarting in 3 s", rc)
+        except Exception as exc:
+            log.error("GStreamer launch failed: %s", exc)
+        time.sleep(3)
+
+
+def start_rtp_thread() -> threading.Thread:
+    t = threading.Thread(target=_gst_worker, name="gst-rtp", daemon=True)
+    t.start()
+    return t
+
+
+# --- MJPEG capture & streaming -----------------------------------------------
+
+_cap: cv2.VideoCapture | None = None
+_frame_lock = threading.Lock()
+_latest_frame: bytes | None = None
+
+
+def _capture_worker() -> None:
+    """Continuously grab frames from libcamera via GStreamer appsink."""
+    global _cap, _latest_frame
+
+    log.info("MJPEG capture: opening libcamerasrc pipeline")
+    cap = cv2.VideoCapture(CV_PIPELINE, cv2.CAP_GSTREAMER)
+    if not cap.isOpened():
+        log.error("Failed to open capture pipeline — MJPEG unavailable")
+        return
+
+    _cap = cap
+    log.info("MJPEG capture: pipeline open")
+
+    while True:
+        ok, frame = cap.read()
+        if not ok:
+            log.warning("MJPEG capture: frame grab failed, retrying…")
+            time.sleep(0.1)
+            continue
+        _, jpg = cv2.imencode(
+            ".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, MJPEG_QUALITY]
+        )
+        with _frame_lock:
+            _latest_frame = jpg.tobytes()
+
+
+def start_capture_thread() -> threading.Thread:
+    t = threading.Thread(target=_capture_worker, name="mjpeg-cap", daemon=True)
+    t.start()
+    return t
+
+
+def _mjpeg_generator():
+    boundary = b"--frame\r\nContent-Type: image/jpeg\r\n\r\n"
+    while True:
+        with _frame_lock:
+            frame = _latest_frame
+        if frame is None:
+            time.sleep(0.05)
+            continue
+        yield boundary + frame + b"\r\n"
+        time.sleep(1.0 / MJPEG_FPS)
+
+
+# --- Flask app ---------------------------------------------------------------
+
+app = Flask(__name__)
+
+
+@app.route("/")
+def index():
+    return (
+        "<html><body>"
+        "<h2>WireClaw Pi Zero — camera feed</h2>"
+        '<img src="/stream" />'
+        "</body></html>"
+    )
+
+
+@app.route("/stream")
+def stream():
+    return Response(
+        _mjpeg_generator(),
+        mimetype="multipart/x-mixed-replace; boundary=frame",
+    )
+
+
+@app.route("/health")
+def health():
+    with _frame_lock:
+        has_frame = _latest_frame is not None
+    with _gst_lock:
+        gst_alive = _gst_proc is not None and _gst_proc.poll() is None
+    status = "ok" if (has_frame and gst_alive) else "degraded"
+    return {"status": status, "mjpeg": has_frame, "rtp": gst_alive}
+
+
+# --- Entrypoint --------------------------------------------------------------
+
+if __name__ == "__main__":
+    start_rtp_thread()
+    start_capture_thread()
+
+    # Give the pipelines a moment to initialise before accepting connections
+    time.sleep(2)
+
+    log.info("Flask MJPEG server starting on port %d", MJPEG_PORT)
+    app.run(host="0.0.0.0", port=MJPEG_PORT, threaded=True)