Ardupilot vs PX4 ecosystems for fully autonomous indoor flying drone


I’m building a fully autonomous x8 quad with intel t265 and d435 cameras and jetson nano. Currently using ardupilot with dronekit but dronekit is old and buggy so I’m searching for a new framework. What do you guys think, what ecosystem is better for my project? Ardupilot or PX4 and why.

I want to code most of the logic on the companion pc.
I want to use MAVSDK Can I do it with ardupilot? or only with PX4.
I want to test my code with gazebo and sitl are the tools with PX4 or ardupilot better for this.

My project: