Drone industry is constantly growing and evolving in time. Federal Aviation Administration Aerospace Forecast predicts that drone market volume will be about three times the actual one in 2023. This because UAVs are becoming more and more fundamental in the most various application like agriculture, emergency response, urban planning and maintenance, entertainment, security and so many others. For all these tasks, in the near future a large number of drones will fly over our heads. From here the necessity to build safe, lightweight and autonomous UAV for the drones colonization of the very lower part of the Earth atmosphere. Furthermore EASA fixed to 250 grams the limit of the C0 open UAS, category with quite few restrictions to fly.