Designing innovative cropping systems is an active field of agricultural research challenged by the agroecological transition. One of the challenges is to adapt cropping systems to the diversity of farms and contexts. For instance, in the cotton production zone of Burkina Faso differences between farm resources, agricultural situations and agronomic constraints have resulted in a wide range of farming systems. In this context, to break with the trend toward cotton production, we co-designed eight legume-based innovative cropping systems (ICS) likely to meet the objectives sought and the constraints faced by a wide range of local farmers, thus constituting a “basket of options”. Our approach was to enable each farmer to choose the option they considered best suited to their conditions. To that end, the ICSs were implemented and discussed with farmers in participatory prototyping trials. After one season of co-evaluating the different ICSs, the farmers taking part in the co-evaluation were able to test an ICS on their own farm, by choosing and adapting one of the options. Thirty-nine farmers out of seventy-three chose an ICS to test. They were asked the reasons for their choice. Their selection criteria were analyzed in relation to comments made during collective activities organized in the participatory prototyping trials. To complete this analysis, we built an expert-based farming system typology and a statistical typology based on data collected in a rural household multi-indicator survey (RHoMIS) of 63 farms participating in this study. The two farming system typologies were compared, and the relationships between farming system types and the ICS tested on the farm were analyzed. We found that farmers did not really base their choice on their farming system. Rather, they used a wide range of criteria that varied from farmer to farmer, and they were influenced by what they had learned during the collective activities organized in the participatory prototyping trial