The jellyfish UFO is probably just a chip on the glass covering the camera

I’m not saying that it’s definitely that, but if you look at the video carefully, you can notice that the “jellyfish” always looks the same, we always see the same angle, no parallax.

If it was a 3D object, it would change shape as the drone was moving around it, unless the drone was flying perfectly parallel to the jellyfish.

And this also explains why it “changes color”. The color depends on the way the light is hitting it.

And it being in focus (or not) depends on the lens of the camera, and how close the camera can focus. It’s possible for a camera to focus on the chip and the background at the same time, but also if you look closely, the jellyfish is not perfectly in focus, which would make sense if the camera was focusing on the ground.