flight controller software / planning easy missions

hello 

i hope that you can answer my questions as soon as possible cuz i'm running out of time.

1/--which is the most : SIMPLE(code) , STABLE , ARDUINO COMPATIBLE  open  source flight controller  software for quadcopters 

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2/ what is the method used to

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esc software

hello

is it possible to use a blheli_s esc with an arduino mega board as the flight controller ? ( no commercial flight controller ) , cuz i read that blheli_s dshot works with betaflight and the compatible clight controllers

thank you.

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