This thesis presents the design, implementation, and validation of an Incremental Nonlinear Dynamic Inversion (INDI) controller for a quadrotor using the PX4 framework, following a V-shaped model validation approach. The primary objective of this research is to develop a robust controller capable of executing autonomous missions under model uncertainties and external disturbances, while also assessing its fault-tolerant capabilities and response to aggressive manoeuvres. The INDI controller is designed in combination with a proportional-derivative (PD) controller to enhance stability and robustness. The validation process begins with Model-in-the-Loop (MIL) simulations, conducted in MATLAB and Simulink, to establish an initial tuning of the control parameters based on a high-fidelity quadrotor model.