This paper proposes a novel safety-guaranteed flight test environment for more efficient free flight testing of micro air vehicles (MAVs). An MAV model was exposed to a free flight conditions under this environment, which protected it from crashing using magnetic forces and moments, which could be generated, reduced, or removed. We designed and implemented this environment, called the Pseudo Flight Environment (PFE). In order to evaluate the effectiveness of the PFE, a cylinder model was first selected as a reference model, and a Degree Of Freedom (DOF) adjustment algorithm was applied to the position and attitude control system. Then adjustment experiments were conducted for single DOF, and for multi DOFs of the reference model. Finally, the performance of the attitude control system of a MAV model was validated under PFE.
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