Pixhawk can handle all sorts of multicopters. The following chart illustrates the types of multicopters as well as their motor numbers:
As you can see, there are a lot of different types of multicopters, so don't let yourself fall into my personal pet peeve—someone who calls them all quads. They're certainly not all quads. The direction of the circles in the graphic illustrate the direction that the motors/propellers must turn in order for the multicopters to fly properly with Pixhawk. The numbers correspond to the Main Out number on the servo board of the Pixhawk.
The following image shows our six servo wires ...
