An almost ready-to-fly drone kit compatible with Qualcomm Flight Pro™ and Qualcomm Navigator™ called the Dragon Drone Development Kit is now available. See this post for more information. This is the recommended option.
Please refer to snav_vehicle for SNAV params and ESC flashing instructions.
If you're using ROS, qflight_descriptions has URDFs for the different drone configurations. Use "board=sdf_pro" for the Qualcomm Flight Pro board.
Also make sure to look at the open source ROS software that supports the Qualcomm Flight Pro: ROS Software