After experimenting with tricopters and regular (squared) quadcopter, Tom and I switched to a new humble but sturdy design, a quadcopter that was much smaller in diameter and we called Hercules because of its H-Frame design.
Those H-Frame copters were robust but with above 1000 grams all up weight also relatively heavy. The biggest disadvantage was the difficulty to mount and carry camera gear for capturing aerial footage.

Icarus3, a Hercules class copter with an all-up weight of 1005 gr.