Waiting on some spare camera mounting blocks so I can put a downward facing lidar on mine instead of the camera. Uses a arduino nano and a xbee radio to get the data back so I don't have to open up the TH. It will all fit just fine. But won't have as long of a range for now. Might just add a sd card slot and blow off the radio initially. Decided to use a small lipo instead of power from the TH. Doesn't draw much but I'd rather not tap into the TH power supply. LIDAR-Lite 2 Laser Rangefinder (PulsedLight) The new version coming out is supposed to be even smaller. A new app for my Zed cam came out the other day. Gonna have to hang that under the TH as well. Check this out.
Tons of stuff you can do with this bird and with the redundant motors you won't be worried about flying your creations.