Here’s a quick post of a recent project at the space called the Flightscythe.
We modified a cheap ‘bixler' remote control aircraft. This is readily available, can be driven like a glider or under constant power, and has plenty of room to mount extras like FPV gear or electronics. It's also very forgiving in crashes, as you can probably tell from the tape at the front.
Testing was a lot of fun, but sadly the airframe succumbed to crashes after a few tries. With a new carbon fibre strut it should be up and running again in the future.
Code and implementation details are available here: https://sites.google.com/site/mechatronicsguy/flightsycthe