title_body: What are the advantages and disadvantages of a "plus" and "cross" quadcopter configuration? Is one preferred over another? I'm not really an expert when it comes to quadcopters, I heard about the &quot;plus&quot; and &quot;cross&quot; configurations and that the &quot;cross&quot; configuration provides more stability.
  I would appreciate any sort of help on the advantages and disadvantages of those configurations and the physics/maths behind why one is better than the other.
upvoted_answer: According to this paper:
  
  pitch and roll control authority is up to about 30% greater for the
  cross-conﬁguration since all four (as opposed to only two) rotors are
  used.
  
  However this is a bit academic as you often combine pitch and roll in normal flying, or fly at an angle, so it only matters if you want to do the fastest possible flips or rolls.
  For most FPV people, the main advantage is that the camera can look out between the front two rotors. A lot of the time you're flying at an angle anyway (because you're looking where you're going while cornering), so the theoretical differences are minor.