I came across an IEEE paper regarding quadcopter failsafes by Mark Mueller in which despite the loss of one or multiple propellers/motors, the quadcopter can still be controlled to the ground.
It's pretty incredible stuff and would be great to see in APM so I just wanted to bring it to the attention of the developers.
Research paper:
News article with video"
spectrum.ieee.org/automaton/robotics/drones/.UxdDHIzx33Y.hackernews
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