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KEF Robotics has developed software and hardware payloads that deploy to any PX4 powered multirotor, fixed-wing, or VTOL and provide computer vision based piloting capabilites. We have developed and flight tested four key capabilities: 1) Downward monocular visual-inertial odometry 2) Terrain matching for absolute state estimation 3) 3D mapping and safe path planning for hazard avoidance 4) Autonomous building recognition and surveying In this talk, we will briefly review the design and performance of our software and the hardware platforms that we use for testing and integration. Then, we will discuss our experience in flight testing these algorithms and integrating them with PX4 based vehicles over MAVLink, both with our internal test systems and our partner's PX4 based vehicles. We will highlight the challenges in integrating visual state estimation, hazard avoidance, and replanning systems into mainline PX4 as well as PX4 firmware customization to support safe closed-loop testing. Finally, we will discuss integration with the Auterion Skynode platform and app ecosystem for rapid transition to existing PX4 powered commercial platforms.