This is the completed frame for the quadrocopter. Currently the landing gear are merely an extension of the main bolts through the frame, I hope to devise an improved set of landing gear or equip the quadrocopter with retractable landing gear in the future.
After three flights with this quadrocopter I must say that it is very fun to fly, extremely stable and very powerful. It hovers at about 45-50% throttle and climbs quite well at only 60% throttle. I would imagine that it is capable of carrying at least two go pro HDs and possibly even more weight. Casually flying with a 2200mAh 3S Li-Po I was able to achieve flight times of roughly 5-8 minutes, I wasn’t actually recording the flight time so those numbers are estimations. What I like most about this flying this quadrocopter is its many great flight characteristics. It is very stable, probably more stable than my large coaxial lama 3 helicopter, but you never have to worry about tipping on landing or losing control in the wind. It maneuvers like a collective pitch helicopter and the gyro does a great job of balancing the quadrocopter after coming out of a bank or turn; the gyro correction seems to be even better than the three axis gyros embedded in many of Walkera’s new flybarless helicopters. When flying the quadrocopter if I ever feel like I am losing control or have become disoriented I simply allow the gyro to level the quadrocopter and reduce the throttle to land. I haven’t yet encountered any flight characteristics in the quadrocopter that I dislike.
Eventually, the frame went through several modifications including shortening of the arms, some black paint, and changes to the battery mount.
Here are some pictures of the 3D printed frame being assembled for my quadrocopter. The motor mounts were very strong when mounted to the aluminum arms. Additionally, the mounts were designed in such a way that the bolts connecting to the bottom of the motor would be flush against the arm, preventing them from loosening in flight due to vibrations. The central frame was very strong, however, a bit to flexible. It wasn’t the properties of the materials used so much as design flaws which caused the flexing. These problems were addressed and improved in the second revision of the frame, however, printing another frame put my project over budget and I decided to go with a frame constructed from balsa and sheet metal.