Tracking system for indoor flight


I’d like to know if I can use indoor tracking system (i.e. Optitrack, Vicon, Otus…) to perform autonomous flight. I know I can control my UAV sing OffBoard Mode and a companion computer but I’d like to use “Position Mode” or other automatic flight modes. The problem was considered in Ardupilot, I wonder if there is something equivalent for px4.

Thankyou in advance