Multi rotor with linear motor configuration

i want to configure multirotors with linear motors. where multirotor will takecare of lift and stabilization and linear motors will takecare of linear moment while hover.
any suggestions?

You can take a look at the Omnicopter-Testing Branch on github, especially the commits labeled with 3D Thrust. It’s essentially a slight adjustment of the position controller which gets rid of the attitude setpoint being created from horizontal thrust and passes the full thrust setpoint (not just z thrust) on to the Control Allocator.