I know enough to get by. When I was starting out 10-ish years ago, the *Flight Developers really ticked me off. I spent a lot of years working directly with the developers of dRonin instead so most of my multirotors were based around that. BetaFlight in particular was also focusing primarily on racing and kept dropping more and more features. dRonin is no longer developed and I have been focusing more on wings for longer flight anyway. Now I primarily try to use hardware that will run Adupilot but have a few with INAV. I have a few quads that still will always have dRonnin on them, but also some with inav and betaflight. Took a few years, but betaflight is now adding back features they once were shedding. Unfortunately, not for F3 processors so you get just the basics. F3s were pretty much dumped by all firmwares several years ago due to their limited memory and clock speeds. Still fun to bust them out now and then to shake the cobwebs out. All my indoor flyers are still F3 based. Some dronin, but I have flipped a few to the last F3 supported version of betaflight for comparison.