Ardupilot vs Native PX4 stack for Pixhawk?

I am interested in doing indoor SLAM (simultaneous localization and mapping) with a quad. What is the advantage of using Ardupilot vs using the barebone PX4 stack (which is also decently documented and quite customizable by itself)? I know that Ardupilot runs on top of PX4 firmware on Pixhawk, so what advantage does it bring? Thanks. 

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