Ex aerospace engineer here:<p>Biggest reasons are a) availability of ARM based SOCs that have some pretty good processing b) Lithium batteries<p>Back in 2000s, lithium batteries were coming out, but werent as safe. Being into the RC world, you would see plenty of battery fires. If you wanted to be safe, you generally went with NiMH batteries, which were heavier.<p>In terms of aerodynamic efficiency, its much more efficient to move large amount of air slowly rather than small amount of air fast, and the efficiency gains from this are higher than efficiency gains from running multiple small motors rather than one large motor.<p>Additionally, there were some notional autopilots microcontrollers, but they weren't really that good in terms of being able to do accurate AtoD sampling.<p>Thats why RC helicotpers were used heavily as "drones" back in the day, with the bigger ones running on gas engines that could support heavier payloads that included a stabilizer autopilots. With a helicopter, you also used to have a stabilizing flybar that could give you stability in place of flight controller with a gyro.<p>Once Lithium batteries became safer, cheaper, and higher energy density, and microcontrollers like STM32 with Cortex chips came out that got some A2D samplers into the GHZ range, drones became more viable due to mechanical simplicity (controlling motors rather than a complicated swash plate linkage), especially since the body can be flat carbon fiber pieces that are very cheap to make and are very strong and light.