I have designed a concept for a new type of quadrotor. It can tilt its rotors in any direction using 6 stepper motors. This ability should lead to a quicker response. Another advantage is that it can carry equipment on its side. This quadrotor should fly with its body tilted backwards, not tilting its body but its rotors as it flies. The quadrotor should be able to fly with all rotors turning in the same direction, compensating rotation around its z-axis with the steppers. It looks heavy, but I have found a propeller motor combination on robbe.de that should work, giving 2,4kg thrust.
On the drawing the batteries are on the sides and the camera or tool should be in front. Turning the rotors left and right, the axis is a carbon fibre tube inside another tube.