Pixhawk4 Mini and Arducopter -- Bios

I need to flash my new Pixhawk4 mini with Arducopter firmware in order to use the Arducopter Antenna Tracker. I noticed there is an option to use either NUTTX or CHiBios. Which works best with this combination? I here the hardware works better with NUTTX bios and Arducopter works better with ChiBios. Does anyone have any input?

Please follow Ardupilot documentation.


That’s great advice but it doesn’t exactly answer my question.