Well, I think it's time to post my quad copters. I'll do it later on Spacecraft exchange.
Best way to do it is using one KAL-1000 for each axis. X, Y, Z и Lift. Respectively bind to pitch, roll, yaw and throttle axis in action groups.
Forvard left rotor - clockwise, forward right - counter clockwise.
Rear left - counter clockwise, rear right - clockwise.
Motor speed - constant, as your craft needs.
KAL-1000 should change rotor's deploy angle in inverse:
For pitch - rear and forward (from - 10 to +20 degrees for examples).
For roll - left and right.
For yaw - rotors which spin clockwise and counter clockwise.
As result blades will have mean angle between all 4 axes.