I have been working on building up an H-Quad. For all intents and purpose, an H-Quad is no different then a regular Quadcopter in Xconfig, except it has a larger center section to mount loads of electronics. I finally have just about everything mounted that I would want on it (lights coming). So now it is just a matter of optimizing it for longer flight times. There are still many bugs to workout, but I am very pleased with how this bird flys. Here are a few pictures and video of it in action.