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The control algorithm includes: attitude control, position control, flight velocity control and flight trajectory control. The basic flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller based on the model for a double integrator. Then, the mathematical model of a small size helicopter is described at first. After that we present simple but effective MTC (Model and Trajectory based Controller, named by the author for convenience.) control algorithm. It is used to achieve translation position and velocity control and no stopping multi-way-point flight trajectory control. Simulation results and results achieved in real flight experiments demonstrated that the presented controller is effective and practical.