MRS in confined spaces

[aasignacion]

Hi Sir Tomas,

I am interested on using the MRS system on flight inside confined spaces (3 to 4 times the size of the UAV). I would like to ask three questions.

1. We are using crazyflies, crazyflies are not one of the available platforms right? Would you guide me how to add the this crazyflie platform or at least how to add TOF sensors to the existing UAV platforms similar to multiranger deck https://www.bitcraze.io/products/multi-ranger-deck/]
2. I already made ASC obstacle point cloud file of a tunnel, STL file and waypoints or inspection points inside the tunnel. I am having a hard time to get path using the Astar or RRT. I can get a path using euclidean (default) with adjusted min_distance to 0.1m. How can I play around the contraints of the motion planning to enable confined space flight with minimal safe distance but still with smooth polynomial trajectory.
3. We learned how to modify the Mission and Navigation Block. Could you guide me how to modify the reference tracker and reference controller blocks?
   Thank you so much.