Developed and implemented a full feedback control system to autonomously stabilize a quadcopter in hover. Designed and tuned controllers for altitude and attitude control, performed state estimation, and identified physical system parameters through experimental testing. The final objective was to achieve a smooth takeoff, stable hover, and precise landing at a fixed location using limited onboard sensing. Addressed key control challenges such as unobservable horizontal position dynamics, requiring compensatory strategies to maintain stability despite sensor limitations and integration drift.