Ok, so you've done a fatigue test to 20000 cycles, presumably cycles of zero to some load ... limit load ? some %age of limit load ?
First you need to decide on a "safe life factor". For full scale fatigue tests OEMs will frequently use 2 or 3, but you can use more or less ... I mean people aren't going to die if you get it wrong (not unless they are very unlucky), but then maybe there are expensive things on your UAV ?
Then you need to decide on the cycle-to-flight relationship. A very simplistic (and usually conservative) approach is to say 1 limit load cycle represents a flight. A more analytical approach is found in ESDU 69023 (which I think can be found online). But you should consider that this data wasn't collected with UAVs in mind ... I suspect your UAV flies at very low altitude (compared to a large commercial transport). It may be reasonable to assume it's valid, then go collect your own data, with an test article instrumented in an "nz" accelerometer, a "loads monitoring" system.
But my experience is with metallic structures, and you've mentioned your wing is composite. I know composite primary structures is different (and no doubt others will post on it). I understand the most important thing is "BVID" ... possibly Barely Visually Inspectable Damage. I think you need to do a tap test or some other inspection of the test specimen (and use your FEA to determine the most likely places for a disbond) to determine if damage has occurred. I would rather continue the test until you get a failure, but you can always assume failure has occurred and you're back to the two previous points. But a single load test may be less valid for composites, I've heard that they tend to be more sensitive to low loads (high cycle frequency).
Another thing about composites is vulnerability to UV light, generally environmental effects
"Hoffen wir mal, dass alles gut geht !"
General Paulus, Nov 1942, outside Stalingrad after the launch of Operation Uranus.