On September 9, researchers Antonio González Morgado, Carlos Álvarez Cía, Guillermo Heredia Benot and Aníbal Ollero Baturone received the ROBOTNIK award for the best article from the robotics thematic group of the Jornadas de Automática 2022 organized by CEA, for their article UAV FULLY-ACTUATED: MODELO CONTROL Y COMPARACIÓN CON CONFIGURACIÓN COPLANARIA. This paper presents the design and construction of a Fully-Actuated UAV, obtained by tilting the propellers of the motors. Likewise, the differences between the coplanar configuration and the Fully-Actuated configuration at the control level are presented. Finally, the work presents the differences between both from different experiments carried out in the GRVC facilities.