This paper discusses the modeling of YANTRA (Yuktah Autonomous the Robotic Aviator) for defense surveying and spying purpose. An autonomous drone is a category of drone that does all the work."A car that drives itself". An autonomous drone (HOVERBIKE) is practically the same concept. The entire drone, very little manual work on your part. It has custom route mode going. They literally do all of the work so you can sit back, relax, and have a good time. the main purpose of the flight controller is to perform a petrol function between given GPS coordinates while maintaining a specified altitude for an assigned time and then return to its launching position without any human interaction.