To plug and play with a regular old FCB all that matters is that you can draw lines connecting the 4 motors and the angle of the intercepting lines be 90 degrees, though balance is important too haha. I know how much you love the math/processing side of programming quads hahahaAgreed. I was addressing the kind of quads most common to our hobby and ONLY the mechanics of how the different designs accomplish their goals. NOT the electronics or the mixing of different props and motors. Nothing exotic. Just regular ol' quads.