Does the frame of coaxial helicopter support now?

ArduCopter Copter 4.3
1

I’m trying to make a K52 helicopter. Is the fuselage frame the same as that of ordinary helicopters? Or does it have a separate frame?
From the perspective of control logic, I think there should be a collective pitch feedforward compensation action for K52 helicopter during yaw maneuver. Is this action available now? If not, can it be added to the follow-up?

2

Me too. My helicopter is like k26.

3

You are right. I don’t know if FCs now directly support this feature, but if not, you can consider using a LUA script to achieve this functionality.

4

What is the diameter of your rotor ？
Can you take a look at your parameters ？My plane has been struggling to fly well