The deployment of unmanned aerial vehicles (UAV) in military applications increased the research about them and the importance of them. The unmanned helicopters are the most agile and maneuverable vehicles among the unmanned aerial vehicles (UAV). The ability of hovering and low speed cruise makes them even more attractive. Such abilities supply more areas to deploy the usage of the unmanned helicopters like search &amp / rescue, mapping, surveillance. Autonomy is the key property for these vehicles. In order to provide autonomy to an unmanned vehicle, the guidance and the autopilot units are designed in the first step. Waypoints are used to track the desired trajectories. The line of sight guidance is used to reach an active waypoint. In order to realize the guidance commands controllers are designed by using LQR. In addition, position and heading controllers are designed by root-locus method. The trimming and linearization are implemented in order to extract linear models used for controller design. Keywords: Helicopter, control, guidance