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Is direction of rotation of motor critical in a single copter?

Will a single copter function properly if the motor spins CW instead of CCW when looking from top of the copter?

Arducopter documentation suggests (or requires?) motor to spin CCW and to be connected to output 5.
However it is not always possible, especially with a gasoline engine mounted above propeller which is a standard practice in single copters. Most gasoline engines cannot reverse their direction of rotation and so would spin their propeller CW in that configuration.

If CW direction does not affect its function, should the motor be connected to servo output 5 or to output 6 like the lower motor in a coax copter that spins CW?

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