Micro aerial vehicle (MAV) swarms have strong potential for indoor mapping. However, most studies adopt a single-altitude strategy, which flies all MAVs at the same height, flattening the vertical structure and limiting the map's expressiveness. They also often lack a unified interface for real-time interaction and state monitoring. To address these gaps, we propose a digital twin-driven, multi-MAV, multistorey mapping pipeline that operates with minimal sensing. The system consists of a Digital Twin-based Controller, a Mapping Service, and a Digital Twin Web Service. The Mapping Service integrates a Map Bug exploration policy and a Downwash Avoidance policy, and leverages a Single Map Merge Service together with a TF Broadcaster to organize altitude layers and their spatial frames. We validate the approach in a physical indoor testbed. The pipeline enables multiple MAVs to capture complementary, height-dependent environmental features and produce layered indoor maps, while the digital twin provides real-time, interactive supervision of mission execution and vehicle states.