The adoption of Unmanned Aerial Vehicles (UAVs) in agricultural scenarios can aspire to become a reality if the validation of their effectiveness will be sustained by the contemporary and shared improvement of all those technological gaps identified by current research projects. In particular, a commercial quadrotor-based spraying system that will have to fly automatically between vineyard rows would need to implement sophisticated flight control algorithms that could imply a great amount of computational workload just to keep attitude and position under control while following the flight path. This kind of trajectories are often characterized by steep slopes, limited room for manoeuvring and sharp turns.