H-Frame with arms offset

#1

I want to know if two motors (Front ones) can be offset from the rear two motors on copter using H-Frame? Meaning two arms let say at 1" off the base and the other two arms 6" off the base.

Am I hitting a dynamic limit of flight controller and software?

Picture is from actual test model that has crashed twice in Loiter mode when I tried to combine turn using aileron and rudder stick.

image

#2

Did you change over to PX4? Otherwise, since you’re using ArduCopter, it might be best to continue your thread there.

Good luck.