I recently built a octo-copter (8 propeller modules) to test out one of my many ideas. It had to do with angling of the blades. To my surprise, the final product controlled far better then controlling with VTOL. All you have to do is change the settings in the propellers to have pitch and roll change the angle of the blades. I'm sure you will find that your helicopter designs will work much better after doing this.

To all you guys who already know this...
I would love to know why this is the case. Is there any better way to control helicopters (apart from modded engines of course)? How can I improve my designs?