The reason you don’t see small helicopters or fixed wing aircraft with complex autopilot systems coupled to the flight controls is that it’s expensive for a lot of the reasons you want it to be - the reliability, airworthiness and usability requirements that make it safe are also expensive to implement. At that price point it’s usually easier to have a human do all that work, especially for the types of missions those aircraft do. The technology has been there for decades, and there’s probably a reason why it hasn’t trickled down to these sorts of small aircraft yet.
Also, do you really want your flight control system to be entirely reliant on ensuring that the latest update to iOS doesn’t inadvertently brick the app that lets you control your aircraft? Let alone the possibility of someone exploiting a vulnerability in iOS to degrade your flight performance. There’s a reason that flight software is not trivially updated.