Micro- and Nano-Air Vehicles: State of the Art

Table 1

Performance summary for the first-generation Black Widow MAV [24].

Total mass	56.5 g
Loiter drag	9.4 g
Lift/drag ratio	6.0
Loiter velocity	11.2 m/s
Loiter lift coefficient	0.42
Loiter throttle setting	70%
Endurance	33.4 min