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| I don't have experience in running SFRTK, so I'm not sure if it can be tied to a drone, but you absolutely can map boundaries with Pix4D and a mapping drone. It takes a little time, but definitely worth it. I'm using it for boundaries for spraying.
Fly a boundary route, lower altitude and slow flight speeds get better pictures, process the images, and then the long part is going through and dropping pins along the boundary. Then you can export the Shapefile for whatever you want.
Works best if you do a calm day so the drone isn't fighting wind while running around, and a base station will get you the best precision, but you can get sub 10cm precision with a virtual RTK like Point One Nav. They also offer a higher precision but coverage for that is more limited.
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JD Ops Boundaries with Pix 4D
