The desire to center the center of gravity has been the keyconcept in the design of this quadcopter frame. I decided to focuse on "vertical arms" in order to reduce drag coefficient without sacrifying strength. The camera cage has been designed to fully protect standard fpv camera (HS1177). The distance between the two central plates is by default 10 mm. Low profile flight controler must therefor be prefered and must include a pbd as it is not possible to fit a stand alone pbd in this frame. This frame managed to combine robustness, compacity, balance inertia and (from my point of view) an original design.