Paparazzi UAV, an open-source uav platform, is breathing new life, so to speak, into 20K RAM Naze32 and CC3D autopilots. That's great news for anyone that might already own these class of autopilots and would like to use Paparazzi UAV on them(link to GitHub). Of course, there is a limit to the number of modules/features you can have active at any given time due to the RAM restrictions. That being said, you can still do a lot of interesting flight scenarios within the confines of 20K. Check out the Paparazzi GitHub pull request for Naze32 support details. Enjoy!