what about a quadcopter that looks at the ceiling with an ultrasonic eye & uses it as a height reference? this could be implemented quickly. ceilings tend to be unobstructed & level and would give a good reflection, even variations such as light fittings could perhaps be fiddle-factored in. I have yet to find a cheap quadcopter that's at all easy to control but one with vertical stability would be ok. this could be fitted to even a teeny one as an experiment if it had some sort of breakout feature. wouldn't work outdoors but might make a beautiful toy.
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