This paper is focused on the model identification of a Micro Air Vehicle (MAV) in straight steady flight condition. The identification is based on input-output data collected from flight tests using both frequency and time domain techniques. The vehicle is an in-house 40 cm wingspan airplane. Because of the complex coupled, multivariable and nonlinear dynamics of the aircraft, linear SISO structures for both the lateral and longitudinal models around a reference state were derived. The aim of the identification is to provide models that can be used in future development of control techniques for the MAV.