hi Shawn
I’m analyzing everything you advised me in early April. For the weather and the limited time to devote, they don’t allow me to have an immediate reaction 
In the meantime I am trying some things and following your coins, I see that the system starts to work better.
At the same time I am also building a quad and many parameters suggested by you find space in this frame.
I need a little info: to increase stability, in addition to the natural dihedral of 5 degrees, can I orient the motors by 2 or 3 degrees? and in which direction? do you recommend it?
I enclose a diagram where the orientation of the motors is indicated by the arrows (joining motors 1/4 and 2/3 while diverging 1/3 and 2/4
