Multicopter Control with non coaxial props


I wonder if there is something about non coaxial propellers supported in px4 flight stack?

For example look at KittyHawk Cora device.

It has outermost propellers inclined outside (and inner propellers slightly inclined inside). This allows for several things.

  1. Control yaw with thrust not only with torque of motors

  2. Control sideways motion directly not though tilting in roll direction.

  3. Control forward motion directly with pusher motor and not through pitching.

Do we have something like this out of the box in px4? What we can do and what is not available yet?