We now have almost all the materials we need to start building. After testing the Eflite motor we will be using, it became clear that the chassis needed to be made of more than just insulation sheathing. The main body and the propeller duct will be made out of 1/2'' plywood. The shirt will be made from a heavy shower curtain. Construction will hopefully begin next week.
Throttle curves! I have no idea why I didn't think of this before. The most difficult thing about flying a quadcopter is controlling the throttle; it is always either too high or too low. I love programming exponential control for my roll, pitch, and yaw, but I forgot that throttle curves would allow me to do the same for my throttle control. Now the middle 50% of my throttle stick only maps to a 15% change in throttle. The difference is astounding.
Now that I have telemetry working with the Arducopter, I think I will be able to make useful progress on that project. I will make a video soon.