Hi Pete,
The Voyager Camera Adaptor # 31300006 would allow you to connect a Voyager RV Side Camera # VCMS12LGPR to a system with RCA ports. The yellow connector is for composite video and the white is for audio. Since you don't currently have audio you can just leave the white connector unplugged. The two power wires can be spliced into a nearby 12v power source and the 4-pin connector would connect to the camera. We offer the passenger side camera with a white cover with part # VCMS50RWT.... view full answer...
The Atwood Air Command RV AC Unit part # AT15033-22 that you referenced would be an excellent choice for what you are looking for. It has a heat pump like you are wanting, a higher BTU rating of 15k, and it's designed for ducted applications like you have as well. view full answer...