QTW (Quad Tilt Wing)-UAV (Unmanned Aerial Vehicle) can realize the vertical takeoff and landing, and hovering flight that seems to be the helicopter, and the high cruising speed that seems to be the fixed-wing aircraft by changing an angle of a rotors and wings by using tilt mechanism. We develop the original QTW-UAV, PFCS (Primary Flight Control System) and experimental method for flight test. The result of the flight test shows the proper flight through the helicopter mode to the fixed-wing aircraft mode is realized by using our thought.