During the last period, the work was devoted in improving the laser-based wall-following. In particular, the 2D laser range scanner along with attitude information  from the onboard IMU is used to estimate the heading and the distance of the UAV with respect to a wall. This described wall-following scheme, together with the pressure-based altitude control was evaluated in experiment that are disseminated in the current revision of the IEEE Transaction on Mechatronics paper (Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters) currently under review.

Beginning of the Year 2013, first order aerodynamic drag effects of the UAV were investigated to both improve control- and state estimation algorithms. These first order drag effects originate in the interaction of the rotor blades with the relative airflow. It gathers two terms 'blade flapping' and 'induced drag', both were identified and exploited in a new control scheme to improve the overall behavior of the UAV.