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I started this project quite a while ago. My first inspiration came from a hobby parts site: http://www.hobbycity.com. They advertised a new brushless motor (hexTronic 2 gram) that was very light and a matched ESC that was 1 gram (tgy dp 3a 1s). Another inspiration was the low voltage small Arduino from SparkFun (Arduino Pro Mini 168). I chose three rotors, but I think four might have been optimal since you can balance torque with half the props going one direction and the other going ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/3-helix-wings