Hi everyone!
I am looking for some guidance on how to proceed with the project that I have been working on for the past few months and which I am stuck now.
My goal is to fly a drone indoors autonomously using Local Positioning System and avoid obstacles as it flies through a pre-programmed path.
The drone I am using is,
F450 quadcopter with APM 2.6 flight controller. I have come across some posts saying what I intend to do won’t work with APM 2.6.
Any suggestion on the different LPS systems to fly indoors and different sensors that I can use to avoid obstacles will all be useful!
I have heard the Erle Brain can handle what I want to do. Any recommendation and guidance will be much appreciated!

Thank you!