Small scale UAV with birotor configuration

In this paper we present a project aimed for the designing of a small scale Unmanned Aerial Vehicle (UAV) with Tiltrotor configuration (that uses two rotating rotors). The proposed UAV is build from scratch, based on Commercial Off-The-Shelf (COTS) components. The related development ranges from designing the control algorithms to the wireless communication infrastructure. Our aim is to create an open source project that can be used as reference for future UAV design in industry and academia. The current paper describes the adopted design methodology, the mathematical and computational models created to represent the UAV, the physical components that constitute the UAV, and the results obtained so far.