This article shows development of a fixed wing Unmanned Aerial Vechicle (UAV) prototype with multi rotor control system. This model pretends increase flight time of multi rotor system using aerodynamic characteristics. The lift force generated by a wing reduce the required power of the motors to raise up the structure during horizontal forward flight. For airfoil selection and sizing of the wing, we consider the necessary weight to lift, the Lift coefficient (CL) characteristic of its geometry and the attack angle. The wing study is done on a FX63-120 airfoil using theorical equations and simulated in FoilSim III to obtain the lift and drag forces. The control is realized on a Pixhawk Mini autopilot. The lift produced by the wing is considered an external perturbation which causes altitude changes, modifying the autopilot behavior, reducing the PWM signal frequency sent to the ESC of each motor. The UAV is controlled through radio control or mission plan. The mathematical model contain a numerical approximation considering multiple Single Input Single Output (SISO) systems. The signal analysis shows unpredictable behavior during manual controlled flight, but an acceptable stable group of data in controlled mission.