This research presents the development and implementation of a 3D Curvature-Aware Model Predictive Contouring Control (3D CAMPCC) for autonomous quadcopter navigation. The primary objectives are to implement the 3D CAMPCC and to apply a smoothing path procedure to enhance trajectory planning and execution in complex environments. The 3D CAMPCC framework extends traditional contouring control techniques to unmanned aerial vehicles (UAVs), specifically racing drones. The proposed method incorporates curvature-aware path planning to effectively manage sharp turns and sudden path deviations while adhering to non-linear constraints such as passing through the gates of the track and flight stability. A significant component of this research is the implementation of a smoothing path procedure.