Well, my programming skills are not that good so it is kinda hard to experiment 
Currently, I have one sideboard which is connected to both inputs of the motherboard. So you are saying that I could flash the motherboard with FOC firmware as well as my sideboard and try to modify that sideboard firmware (from FOC GitHub for sideboards)? I would leave it as it is now, but it is very inconvenient to drive as for higher speeds the board needs to be at a pretty aggressive angle and it can nosedive anytime…