I disagree about ease: ArduPilot is not easy to get working. It's a pain in the ass to get a flyable config, for say, a basic quadcopter. I now have a flyable config and notes, but it took me a lot of trial + error to get there. It has... surprising default settings , like going into a tumble if you 0 the throttle. Betaflight and PX4 are easier.
I have a lengthy notes file with exact settings required to make ArduPilot work well with a small quad. The result is a great experience, but getting there was not!
Also of note for ease: The ArduPilot code base is a mess compared to PX4's.
> I have a lengthy notes file with exact settings required to make ArduPilot work well with a small quad.
There are easier ways, like using an existing config file someone posted on AP forum or rcgroups..
It’s not made specifically for small quads and it will never fly as well as BF or even iNav. I wouldn’t expect an agricultural drone to support turtle mode, so no air mode by default shouldn’t be surprising :)
Re code base: AP supports LUA so for small mods you won’t have to change the code base at all, compared to PX4..
I have a lengthy notes file with exact settings required to make ArduPilot work well with a small quad. The result is a great experience, but getting there was not!
Also of note for ease: The ArduPilot code base is a mess compared to PX4's.