This research proposes modelling, simulation and implementation of autonomous unmanned quadrotor prototype based on Matlab Simulink software, and Mission Planner for communicating with APM control board of the quadrotor. The goal is to Control attitude and altitude over a desired trajectory of the Quadrotor using PID control, with high precision and reliability. The mathematical model used for simulation takes into account all differential equations of motion of the quadrotor. A full quadrotor prototype was assembled for real experiments to do a comparison between real and simulated data. This comparison reveals the reliability and the accuracy of the PID controller and the mathematical model used in Matlab.