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We present the design, implementation, and evaluation of MiFly, a self-localization system for autonomous drones that works across indoor and outdoor environments, including low-visibility, dark, and GPS-denied settings. MiFly performs 6DoF self-localization by leveraging a single millimeter-wave (mmWave) anchor in its vicinity- even if that anchor is visually occluded. MiFly’s core contribution is in its joint design of a mmWave anchor and localization algorithm. The lowpower anchor features a novel dual-polarization dual-modulation architecture, which enables single-shot 3D localization. MmWave radars mounted on the drone perform 3D localization relative to the anchor and fuse this data with the drone’s internal inertial measurement unit (IMU) to estimate its 6DoF trajectory. We implemented and evaluated MiFly on a DJI drone. We collected over 6,600 localization estimates across different trajectory patterns and demonstrate a median localization error of 7 cm and a 90th percentile less than 15 cm, even in low-light conditions and when the anchor is fully occluded (visually) from the drone. Demo video: youtu.be/LfXfZ26tEok