Very nice! My only suggestion would be to include Jump Point Search (JPS) [1], which can be an order of magnitude faster than A* search in grid map settings. JPS has also been extended to 3D grids for quadrotor path planning [2].

[1]: https://ojs.aaai.org/index.php/AAAI/article/view/7994

[2]: https://ieeexplore.ieee.org/abstract/document/7839930