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For hours of search I found something useful. https://github.com/DaikiMaekawa/quadrotor_navigation here is some quadrotor_navigation package which include also local planner for quadrotors. After a few modifications, my quadrotor can now fly autonomously. It's pretty simple local planner though.

Personally I wanted something advanced, but I guess I would have to learn some physics and do it by myself.

Any suggestions where should I start?

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