My current masters work is in regards to designing, building and testing quadrotors for autonomous flight in urban environments. I am also a member of the universities Blackbird UAV team as a fun past time and to increase my knowledge and practical experience of UAVs.
We have an integration guide in the works that'll be useful to you. In the meantime, check out the swift navigation forum where several people are working on this: https://groups.google.com/forum/#!forum/swiftnav-discuss
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