I'm considering using MoveIt to plan trajectories for a micro-aerial-vehicle. I know this is possible, but the MoveIt package seems to be focused on robotic arms rather than drones which is making me second-guess my choice.

1. Does MoveIt's performance for MAVs suffer in any way due to the package's focus on other types of robots?
2. Is there another 3D motion planning package that is designed specifically for drones?