Assembly of the frame including flight-critical hardware has been completed. The frame selected and shown in the picture is the Hobbyking Extra Large EPP Quadcopter Frame. Flight-critical electronics were soldered to a perfboard which was mounted in the center of the frame. The flight critical electronics include a dsPIC microcontroller, a 9DOF Razor IMU, and headers for connecting the speed controllers and an ICSP header for the PICkit debugger. The electronic speed controllers (Turnigy Plush 30A) and motors (Turnigy D2836/9) were also attached to the frame. 

The ability to simultaneously control all four motors was verified, as well as the ability to read data from the IMU.

A digital scale was used to take thrust measurements from each motor and propeller. A motor was mounted to a wooden block which was placed on the scale. The motor throttle was ramped up from 0 to 100 percent. The difference in weights with the motor off and at 100 percent was recorded as the thrust value. The wooden frame was then suspended above the scale to determine the force on the scale due to the force of the air. Initial measurements for each motor were in the range of 800 to 900 grams. These results are promising, as the projected weight of the quadrotor is approximately 1.5 kg. The motors should therefore provide adequate thrust for flight maneuverability.