I suspected the flight control software process would require a lot of iterations, and flight testing was likely to include some crashes. I developed criteria for an R&D flying platform:
1) Sufficiently close in vehicle configuration that I could test the basic control theory algorithms (i.e. needed to be either a hex for an octo given what the mission vehicle was likely to be
2) Have enough physical space to allow the mounting of a variety of avionics and periperal systems
3) Have enough lift capacity and endurance to allow exploring the full mission envelope
4) Be relatively easy and cheap to repair
I ended up selecting a hobby-oriented copter, and then making a bunch of modifications to get a system I could use for development.
I started with a DJI FlameWheel 550 (FW550) . As a first step, I built a fairly stock FW550 with a Naza Flight Controller. I added an undercarriage from a RC Heli and got comfortable building and flying the platform:
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