This UAV is uses lidar to measure distance from objects around it in order to avoid obsticales. It will land when sensing an object above it, and will increase height if it gets to close to the ground because of a bumb or an object on the ground.
Currently incorperating the UAV into ROS2 to get it to map the room in three dimentional space.
Working through the book Probabilistic Robotics in order to learn how about making truely autonomous robot to be able to navigate a space that it has mapped.