  We propose a multibody model of a freewing UAV. This model allows obtaining
simulations of the UAV's behaviour and, in the future, to design a control law
stabilising the entire flight envelope (hovering and forward flight). We also
describe the realisation of a prototype and a comparison of possible methods
for estimating the UAV's states. With this prototype, we report on experimental
hovering flights with a non-linear incremental dynamic inversion controller to
stabilise the wing and a proportional derivative controller for the fuselage
stabilization.
