In this paper we present a heterogeneous architecture that integrates computing modules with FPGAs and GPUs into an existing UAV platform to allow real time TSDF-based SLAM directly on the drone. The system is fully integrated into the existing infrastructure to allow ground control to manage and monitor the data acquisition process. The system is evaluated in terms of power consumption and computing capabilities. The results show that the proposed architecture allows computations on the UAV that were previously only possible in post-processing while keeping the power consumption low enough to match the available flight time of the UAV.