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This paper presents a strategy for an attitude and altitude control of a fully autonomous quad rotor helicopter. The hardware and software architecture of the proposed system is based on master-slave paradigm, where the master device is an embedded PC allowing high degree of autonomy. This paper focuses on the low level stabilization control. The stabilization approach is based on a transformation of the input variables of the system to perform a decoupled control. Experimental results of attitude and altitude control of the quad rotor prototype are shown.