That’s a tough one, but I would vote for the 16mm. It has the FOV (70-75deg) closest to the majority of drones (75-85deg) that are currently being used for mapping. The others are way too narrow and you would have to fly quite a bit higher to get the same overlaps. If you going to have just one maybe the 24mm would be a better all around, but you would have to experience both to see what you like.