Hey Rusty,
My team have just released the following project: [Announcement] Obstacle Avoidance Framework
It may be helpful for your case to experiment with different approaches before trying on a drone. As we can see we are still restrict about the number of sensors available, but that is something should be easy to add to fulfill your needs. We have a tutorial about that here and soon we will release some video demonstrations of the project working on both: simulated environment and on a real drone.
Feedbacks are welcome!
Cheers,
Murilo.