In this paper we report the stages in the construction of a quadrotor-type unmanned aerial vehicle (UAV) from scratch. This vehicle is characterized by four rotors responsible for the generation of vertical and horizontal motions. Its design should also provide capabilities for the transport of extra payload. We describe in detail the main components used for its construction, the dynamic model and the structure used for indoor flight tests. The main rationale for its construction is to have a complex real-world platform to evaluate control algorithms.