Flight Tests of Autopilot Integrated with Fault-Tolerant Control of a Small Fixed-Wing UAV

Table 1

Parameters and performance of Xiang Fei UAV.

Weight	18 kg
Length	2 m
Max payload	5 kg
Material	Fiberglass
Gear type	Tricycle landing gear
Max range	40 km
Propeller	Wooden 2212
Wingspan	3.6 m
Max cruise time	1 h
Power type	80 cc petrol engine
Cruise speed	30 m/s
Max speed	45 m/s
Area of horizon tail	32 dm^2
Area of wing	127 dm^2