The development and research of autonomous flight systems has increased recently, and unmanned aerial vehicles (UAVs) are more widely used in military fields, such as intelligence, surveillance, and reconnaissance missions, and civilian fields, such as aerial surveillance and aerial surveillance photography. T he incentive for research in this area is the need to replace human intervention in high-risk jobs and missions. Today, a variety of aircraft are used for UAVs, including fixed-wing aircraft, airships, and helicopters. Nonetheless, the platform that has received the most attention in research projects is the multi-rotor helicopter, especially the quadcopter. Because these aircraft have many advantages over others. The quadrocopter has a simple structu...