Wi-Fi only communication for tunnel inspection robot

I’m building a tunnel inspection robot in which the operator would ideally not be in the tunnel with the robot, and would rather be controlling the robot from a conference room somewhere with only the on-board camera and sensor data. I can’t find any good resources on how to build a Wi-Fi bridge for my Taranis Q X7, and I’m not sure if that’s even the right route to take here. I’m an experienced Pixhawk/PX4 user, but I’ve never done anything like this before.

Any recommendations on how I could remotely pilot my robot via Wi-Fi using a Taranis Q X7? Has anyone done this before or can point me to some previous projects?