Rather than a book, I would recommend Leah Day's website. SHe shows FMQ on a domestic machine. She has over 200 designs on the blog with a short video of how to do each one. She shares tips on whole cloth quilting too. And she shows how to choose a design to fit your space. Her website is:
www.freemotionquilting.blogspot.com
I don't have a relationship for her site, I just think it is the best teaching tool (and person) out there.