The goal of the project is to build a new kind of hexarotor platform (i.e., a multi-rotor with 6 propellers) in which the propeller orientations can be changed in a pre-flight set up phase. The tilting of the propellers makes the system fully actuated, i.e., allows to apply a 6-dof wrench to the platform, thus granting an independent regulation of the position and orientation in a certain range.