The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots will have an ever-greater role in this context. In this view, the FIXIT project aims at providing an interactive support for the human operator, within an industrial or logistic environment compliant with the Industry 4.0 requirements. The objective of this thesis is to develop and implement a customized flight control system for a commercial UAV (Unmanned Aerial Vehicle). The system is going to be implemented on the aerial node of the robotic FIXIT platform (a multi-element robotics platform consisting of a mobile robot and an aerial robotic system).