I would like to ask whether the ModalAI Starling 2 Max is suitable for the following workflow:

Software: ArduCopter, Mission Planner
Environment: Mostly empty large buildings with rooms and corridors.

The drone takes off and lands at a predefined location (the same point)
The drone fully autonomously executes a flight path planned in Mission Planner
After battery replacement, it is able to fly the same mission again with approximately ±20 cm accuracy
Questions:
How much lighting is required inside the building for accurate navigation, or can it operate in complete darkness?
Is ArduCopter’s Dijkstra-based path planning with predefined inclusion and exclusion zones supported?
Is the drone capable of detecting obstacles in front of it and measuring distance? If so, can ArduCopter’s BendyRuler obstacle avoidance system be used?
What level of navigation accuracy can be expected after 20–30 minutes of flight?

Thank You