"@Daniel:  We used the Unmanned Innovation boards during the prototyping phase.  Since then we have been using the UDB4 with a 2000deg/s rate gyro (see Buddy's comment above).  Good luck with the variable-pitch quad!"

"We haven't done that test exactly, but I'm fairly confident that the efficiency is quite lower with the variable-pitch setup, most likely due to the fact that we are using a symmetric airfoil with the variable-pitch blades instead of typical…"

"Robert, right now I'm keeping the motor command and pitch relatively fixed.  As the pitch is increased or decreased, the motor command is increased or decreased to compensate for the change in drag and keep the motor speed more or less constant.…"

"Sure.  It is mechanically quite simple.  I'm using Axi 2208/34 hollow shaft motors with MKS 480 servos.  The variable-pitch actuation is accomplished using the EVPU (http://www.modelmotors.cz/index.php?page=101) from MsComposit.  There are four…"

"Hi Chris,
Thanks for linking to my work.  It is an honor as you are somewhat of a UAV legend in my mind.  
It's nice to see that there are people interested in variable-pitch quadrotors.  I was a little worried that the response from the DIY…"