These 3 videos are a showcase of the general theory developed on  for any multi-rotor system, to the case of an hexarotor. The counterintuitive fact that standard hexarotors are not failsafe is explained and experiments showing that a tilted hexarotor is instead failsafe are shown.
Details on the method are given in this paper 
- . Fundamental Actuation Properties of Multi-rotors: Force-Moment Decoupling and Fail-safe Robustness. IEEE Trans. on Robotics. 2018 ;34(3).