autonomously flying quadrotor

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hi all, i want my quadrotor to fly autonomously. Are there any examples,what and how i can achieve this goal? Until now,my quadrotor does only handle the sensordate from IMU(acc,gyro,mag). IMU-->Kalmanfilter-->PID-Control -->IMU Are there any ROS solutions,which can be used?written node for sensordatafusion? Which sensors for autonomous indoor fliying. would you recommend?

thanks ,greets