摘要: This paper details 1.5 years of work toward creating a fully-autonomous robotic aircraft with the best qualities both xed-wing and multicopter vehicle con guration. The was designed from beginning goal for it to become fully open-source platform; design being free public modify improve. It features standardized mounting-hole grid pattern future attachments modules, novel oating front cassette assembly, other features. methodology used build is described, including planform rotor guration, motor propeller selection, wing geometry airfoil optimizations. PID controller topology, ight software architecture, video telemetry electronics are also described. Flight testing results given, implementation solar energy harvesting system, ground locomotion mechanism, advanced described further work.
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