> 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

> 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..