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Mapping using only a 2D range sensor on a 6DOF vehicle is quite tricky. If you can keep the altitude fairly fixed (or are willing to pretend that the world is uniform along the z-axis, which is fairly true above desk height), you can probably use gmapping. If your quadrotor has an accelerometer, you can use that to figure out which way "up" is, and then project the 2D scan onto the X-Y plane, and pass it to gmapping.