This thesis project mainly concerns the use of a smartphone for controlling the flight of a drone. Modern smartphones are mobile devices that combines the typical cell phone operations with a mobile operating system. They are equipped with many hardware components and implement a lot of software, internet and multimedia functionalities. They also contain sensors and systems that can be used for estimating some states of the mobile device, such as its orientation. Considering that a smartphone is equipped with many sensors and components that are usually present on a drone, it would be possible to create a drone using a smartphone and a reduced number of additional items.