Well, the take off is a crucial moment and I prefer to have a software that can handle any kind of failure.
Take a look at this topic https://community.openppg.com/t/separated-vs-parallel-which-is-better/26/6?u=gla.torg
Remember that a “failure” can be a simple cut-off because the batteries are low.
Other kind of failures that I experienced:
-bad connection on one ESC
-Propeller not fixed well to the shaft