"Unfortunately, Life(tm) redirected my energies for a while.
It's beckoning from my office.
It's not dead yet :-)"

"Next step: PID control for platform stabilization.
I think for further testing, I'm going to hang it from a bungee in the middle of my living room.
An angry beast like this one needs a short leash."

"On a development scale of 0-Doing nothing, to plus10-Flying waypoints autonomously and returning with a Wendy's Junior bacon Cheezburger, or minus10-Ripping a ducted fan off it's mount, followed by exploding in lithium flames on the carpet, I'd give…"

"When I was first thinking about it, I was imagining it as the aerial equivalent to a three-wheeled holonomic drive ground robot.  The math should be roughly the same."

"Alex - Thanks!   That's a monster, over and above what I was thinking - It's a work of art.
Ryan - Found a half dozen of these years ago, and planning to try using it with an OpenServo board as a light/fast linear positioner, but in the meantime,…"

":-) I mentioned this type of thing as a possible direction, and someone pointed me toward your blog.
I am thoroughly impressed and have to say you guys are artists :-)
Beautiful!"

"As a nod to the blade-pitch-wise comments, I have a question:
Have any of you tried making quadrotors with variable-pitch props?
I think it would be fascinating to take four RC helicopter tailrotor assemblies, run them at a constant RPM, and change…"

"Since I am early in the development phase, I want the polar moment to be high.  It'll make the whole thing less responsive and twitchy.  As it gets nicely tuned, I can then concentrate the mass toward the middle, making it more agile.
 "

"That information is what I hope to get from future testing.
What I know to begin with however is:
1) If you picture the pitch of the prop as tracing a spiral through the air, if a point on that spiral is moving at the same linear speed as the…"

"OH! And it's an ArduIMU+ V2.
 "

"I'll pre-second it :-)
"I'll take a closeup of the fan to servo mounting tonight as comedy relief for the forum :-) If it works as-is, I'll be making something MUCH more robust soon."
Also, the decision to go ducted fan has caused much discussion…"

"I may have to do some mixing with the vectoring and throttle, but at the moment it hasn't been in-air yet.
I designed in a little camber to the mounts, which I hope will act similar to a wing's dihedral.  If it does, then stabilization should…"

"True, but I was actually thinking more along the lines of going from flying like a quad, pulling 20+Amps from the batteries per fan, versus rolling on the ground similar to some of the neat spherical robots.   The difference being that the…"