There are some discussions over at RCG regarding the infamous Xiake VTOL. One very knowledgeable member Krazyman/Terry (probably a member here too) has brought up an interesting correlation between all his VTOL crashes and the use of F-405 based FC.
RCG Link
How much processing power is being used by Arduplane to run a VTOL plane? There is a CPU utilization indicator on Betaflight/iNav, and F405 seems to be able to run them with very low CPU utilization. With the complexity of Ardupilot could it really be exceeding the power of F405?