This paper outlines the communication and control systems of a quadrotor type Unmanned Aerial Vehicle. The communication system comprises two different links, one for data and other for video signal, and all integrated by an autopilot module. The data link will be implemented using XBee modules and Mavlink communication protocol. The video transmission system will consist of two separate links which can work together avoiding interferences by using orthogonal polarization each other. It is also given some insights of the onboard software architecture, which is based on the Pixhawk autopilot