A cheap, light and, small autonomus drone with ~100g payload capacity and ardupilot

I made AutoFly as a successor to a pevious autonomus quadcopter that was not able to fly due to low power budgeting. With bigger motors and a 4X larger battery it should fly perfectly. I have always liked autonomus drones for the simple fact that it focuses entirely on design and tuning compared to FPV drones where the pilot plays a cirtical role.