  This paper describes the process and challenges behind the design and
development of a micro-gravity enabling aerial robot. The vehicle, designed to
provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is
designed with suggestions and constraints from both academia and industry as
well a regulatory agency. The feasibility of the flight mission is validated
using a simulation environment, where models obtained from system
identification of existing hardware are implemented to increase the fidelity of
the simulation. The current development of a physical test bed is described.
The vehicle employs both control and autonomy logic, which is developed in the
Simulink environment and executed in a Pixhawk flight control board.
