I cannot get enough thrust out of eight motors on an octocopter for my purposes. Is there a way to manage 16 motors on an octocopter (two opposed motors at each corner of the octogon)?
From the Wiki
Custom Frames¶
It is possible to configure custom frame types using up-to 12 motors using lua scripting.
Add support for 32 motors, including dodecahexa-octa (two-layers of 8 motors each) by peterbarker · Pull Request #29020 · ArduPilot/ardupilot · GitHub is not quite there yet, … but it’s the real deal.
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