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This paper is on control system design for visual based indoor inspection helicopters. For the indoor inspection system for large structures, there are some cases where it is difficult for humans to work with. This paper introduces indoor inspection helicopter system with only inspection camera and prism for position sensing as payload. The control system is designed to help the operator of the inspection system to control the helicopter to designated position without much practice. The cases of the control by experienced and novice operators are compared and results show that the system has feasibility for indoor inspection system to be used by any kind of users.