Custom Folding H-Quadcopter

This the build log of my folding H-Copter.  Like my other copters I really love folding multirotors.  Warning there are alot of photos :)

I designed this quadcopter from scratch and on the fly, I kinda just started with a rough idea what I wanted and then started sketching on paper.  I sketch the body in 1/2 sections so I could keep things symmetrical. I mocked it up with props and wooden dowels.

I started with 1/2" wooden booms then switched to 1/2" hollow aluminum tubes from Hobby King once I was happy with the performance. 

It has a hacked and rebuilt RCTimer camera gimbal and vibration dampening camera tray like David Windeståls.  The FPV system is 5.8ghz with a sony board camera which I fly through seperate from the GoPro which is on the gimbal.

The Specs:
Flight Controller: DJI Naza-M V2
Motors: SunnySky 2216-11 900kv
ESC: Hobby King 20A Reflashed with simonk
Propellers: 10"x4.5
Frame and Arm Material: Lexan, wood and aluminum
RC Timer Camera Gimbal (hacked)
Battery: Turnigy 3000mah Lipo

Check out the video for an overview of the H-Copter and a flight at the end of the video.

The pictures and build log:

 Mocking up the size and where the props will be

Lexan with template

Lexan/polycarbonate body template

Testing the folding arms

#6 bolts

The 4 arms in place with the Lexan body

Test fold

Adding the wooden body spars for strength

Adding the top plate

Landing gear and hobby king 20A ESCs

Cutting out holes to run the wires to the ESCs

Holes drilled

ESCs positioned

Wiring for the power distribution

Power distribution

Finished power distribution

Wire run through the body to the arms

ESCs wired up with 3.5mm bullet connections

3.5mm connectors

JST connector for other accessories like FPV

Landing gear mounted and leveled using my phone level app

Leveling from another view

Checking how the length of wire will affect folding the arms

All of the electronics and parts

DJI Naza-M V2 flight controller

Sunnysky 2216-11 900kv with 10"x4.5 props, Hobbyking 20A ESC flashed with simonk

Zip ties to mount everything, they are the best invention ever!  Also a ziptie gun.

Running the ESC leads, also had to use some extensions

Mounting the GPS module on the rear top plate

Test flight

The H-Copter all folded into a nice compact form factor

This is an updated pic with aluminum arms

The arms were kicked out a few degrees to add some stability when the camera gimbal is mounted

View of the sony camera used for FPV and the 5.8ghz transmitter

Motors mounted with zip ties

Vibration dampening camera and battery tray, this works awesome to get jello free video

Hacked RCTimer camera gimbal

This is a DC to DC voltage regulator, I used it to drop the voltage down from the 4s copter battery so it could be used on the 12v FPV gear.

Camera gimbal and Gopro3+ mounted

The camera gimbal was mounted on foam and zipties, this works really well for quick removal or installation

Lipo mounted, I get around 8 minutes of flight with a 3000mah fulled loaded (1700-1800grams), this bird is heavy!  With a 5000mah, I estimate around 12 minutes of flight time.

 The H-copter folded and in it's storage area when not in use.

My website: http://eclectic-workshop.weebly.com