Ardupilot Copter "Acro Mode"... why not? 

Like Betaflight, iNav and other similar software, Ardupilot integrates the Acro mode in its Copter, but with the advantage of being able to count on solid well-known automatisms that raise the level in terms of flight safety.
With Ardupilot your FPV racer is absolutely safe if properly configured.
The parameterization offers advanced settings and tuning that allow you to obtain amazing results.
The test platform used in this video:
- Frame: GepRC Crocodile 7 PRO Long Range
- Motors: EMAX ECO II Series 2807 1300Kv
- Propellers: HQProp 7.5x3.7x3
- ESC: Zeez 4in1 45A BLHeli_32
- Flight Control: Matek H743-Slim
- GPS: Beitian BN-880
- Battery: Li-Ion 6S1P Molicel INR21700-P42A 4000mAh
- TX video and cam: Caddx NEBULA PRO Vista KIT
- TX/RX control: ELRS V3 (FrSky R9M and R9 MM)
- Telemetry: MAVESP8266
- Camera: GoPro HERO6
- Video stabilization: Gyroflow V1.2
Useful links:
ardupilot.org/copter/docs/acr...
ardupilot.org/copter/docs/com...
ardupilot.org/copter/docs/com...