Hello! I am working on autonomous flight of quadcopter for indoor environments. Currently I have an RPLidar and successfully implemented 2D SLAM using "hector_slam" ros package. What should I do next to achieve autonomy?

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I have a Naza M Flight Controller which can give me the IMU readings (I don't know if I can extract this information by interfacing it with ROS, else I will have to use an external IMU). I also need suggestion for a sonar sensor (my application is for indoor environments) to integrate elevation data in hector_slam . Further, is it even possible to achieve autonomy with an RPLidar, IMU data and Sonar Data?

looking forward! Thanks