 The main purpose of Carrier Pigeon is to explore technology of ornithopter.Fire Wheel (Feng-Huo-Lun or Fenghuolun, 风火轮) UAV is a VTOL micro air vehicle (MAV) designed by NWPU, and it is a cyclogyro with landing gear consists of four legs.Two axes perpendicular to each other forming a cross, with a pair of cycloidal propellers at the opposite ends of one axis, and a pair of rotors mounted at the opposite ends of the second axis.