In current time, research into the use of drones in terms of autonomy has become more popular. This has caused researchers to attempt and find a singular technology and solution for solving indoor navigation with drones. Even though some of this research has proven to be successful, none of the found research has attempted to combine multiple solutions into a singular framework. Thus, we designed and implemented SharpFlying, a generic and extendable multi-service framework for autonomous indoor drones. In order to validate our framework, we implemented three proof of concept services. These services were tested, individually and together, to get an insight into whether or not a multi-service structure can perform equal to, or greater than a singular solution. Our results show that by combining multiple services, you gain vastly better results compared to a singular service. Our first study showed how to develop autonomous drones, however, research has yet to figure out a set of design guidelines as to how we should interact with drones in an indoor environment. Based on this, we created a 3-parts exploratory study into the world of indoor autonomous Human-Drone Interaction. Our tasks focused on primary interaction during navigation, voice interaction and secondary interaction. Our results show that participants expected the drone to behave under a level of trust. Trust was a metaphor expressed by some of the participants, they related this word to the behavior of the drone and how flawless they expected it to be. Our study outlines a series of design insights for future interaction development of indoor autonomous drones.