Large-tonnage vessels need to be revised periodically in order to detect defective situations, such as cracks, coating breakdown or corrosion that could lead to a catastrophe. The EU-FP7 project MINOAS is designed to develop a fleet of robotic platforms to automate this inspection process. This paper presents a Micro Aerial Vehicle platform to be used as part of this fleet. The control architecture adopted for the MAV and the key challenges that have guided us towards this solution are described and discussed, while hardware, software and network congurations are also exposed. Finally, experimental results proving the suitability of the design are reported.