This paper introduces a dynamic model and controller design for an X-type quadcopter UAV. First, we use MATLAB to simulate the UAV flying characteristics and tune the controller parameters. We then practically implement the controller parameters on a hardware-based controller. Finally, along with the ground control station (GCS) software, we complete the mission of autonomous river highland surveillance. The advantages of the approach are three fold: (i) minimization of surveillance time; (ii) optimization of path efficiency; and (iii) allowance of an individual person to execute complex tasks.