In the last years, unmanned vehicles are gaining a lot of interests all over the world, due to their capability of adapting functionalities to always different and various applications. For example, just think that, in some countries, drones deliver food directly at your home. So, the application of drones is mainly intended to optimize already existing processes, to reduce the risk of injuries or even save lives (like search and rescue applications), covering a wide range of scenarios, such as smart agriculture, emergency situations and safety inspections. This master’s thesis investigates the critical aspects of indoor drones, focusing on the development and enhancement of position stabilization techniques, sensor evaluation, and the integration of these advancements into the PX4 flight control software.