[Fabricio20]

I think to be fair BetaFlight is not aimed at autonomous flight, when I got into this stuff a few years ago I was told "BetaFlight is for FPV (acro mode?)" and "iNAV is for Autonomous" and after giving both a try I can say that my experience on iNAV was much better for what I wanted (autonomous). BetaFlight worked wonders for flying around (very low input delay, etc..) but it was pretty clear it barely had anything related to auto control. Hells, it didn't even have a reasonable return-to-home!!! It would just drift diagonally in the "home" direction and try to land when it felt it was close enough.

iNAV on the other hand REQUIRES a full gps suite for starters (which for me was REALLY expensive) but you can do full waypoint navigation with just that and a barometer.

Of course it's been at least 4 years but hey at least it was pretty good back then already on the iNAV side!