"Hi , I am working on a same problem, since the flight in a pipe cannot be controlled thru radio signals I want to make an autonomous navigation, also using a lidar https://www.youtube.com/watch?v=d-u0w0hC9s8"
"I am trying to connect arduino and sensor, to create autonomous flight with obstacle avoidence, but I an just in the begging of the project https://www.youtube.com/watch?v=d-u0w0hC9s8"