The question "What is the best flight controller firmware?" pops up here and there from time to time. Some say it's Betaflight. Some say it's Ardupilot. And reality? Reality is often disappointing, and there might be no one answer to that question.
Every flight controller firmware has strong and weak sides. Ardupilot sucks on small drones, Betaflight sucks on airplanes, and INAV is not really good at professional usage. If you want to know more, please watch the video below: