multiwii megaPirate, Naze32... vs...?

Greetings,

We are very new to the diy drone world, but are neck-deep already.  We had actually already purchased a Crius v2 AIO when it failed to arrive sparking further research into which FC is considered 'king' at this point.

Can someone please give us suggestions as to which FC is considered the modern best?  We plan on attaching it to a pi3 to create a sort of AI...

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