Unmanned Aerial Helicopter, UAH, with strong flexibility, it can hover or turn round at the same position, also require deployed for missions only with very small take-off and landing area. In the near future, people attach importance to research, military mission and detect on UAH. In this paper, the author design and experiment the control laws of the altitude and the guidance for a small coaxial UAH. The process starts with identifying the dynamic models of the climb rate for an UAH. This model identify by using the black-box method for design the control laws. The HIL is helpful for design control law of guidance. Complete the design and real flight experiment of the control laws of climb rate, altitude, position hold and guidance. Also complete the four-waypoint navigation flight.