How to develop PX4 with visual sensors

PX4 Autopilot
1

Hi,
I am developing quadrotor with px4 and px4flow for autonomous flights.

I have done hovering with offboard mode with a companion computer (https://dev.px4.io/v1.9.0/en/ros/mavros_offboard.html

Now, I want to integrate px4flow into the system and make the quadrotor hover. But, I do not exactly know how to do it…

My question at this point is that

  1. Can I do this with offboard mode (ROS)?
    or
  2. Do I need to develop the system using this?

Please advise me to develop this quadrotor…

Thank you in advance.

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