Rover flight controller choices

Hi my first post, be kind. I am building a rover and trying to decide on flight controller. I have a vehicle using skid steering and a pi 0w already. The obvious choice is pixhawk 4 I guess, but I like pixracer due to size and power via usb stick. But the rover docs all seem to only use pixhawk 4 examples. A friend suggested erle pxf mini but again the rover docs all refer to pixhawk and not sure if I can negotiate the differences. Can anyone out there in rover world help with some feedback advice? I have limited skills, some python.

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