The integration of a commercially available autopilot, the MicroPilot MP2028g, is investigated for a 30-inch Zagi airframe. Analytical methods, including the Advanced Aircraft Analysis software from DARCorp, were used to determine the stability and control derivatives, and then validated through wind tunnel experiments. From this data, the linear, perturbed model about steady-state flight conditions was cast and transfer functions for the control and navigation systems were developed. Feedback control laws based on Proportional, Integral, and Derivative (PID) control design were developed to control the aircraft which may then be programmed into the autopilot. Flight tests were performed in remote control mode to evaluate handling, adjust trim, and test data logging for the Zagi with integrated MP2028g. Ground testing was performed to test GPS acquisition, data logging, and control response in autonomous mode. Technical difficulties and integration limitations with the autopilot prevented Fully autonomous flight from taking place, but the integration methodologies are, in general, applicable for unmanned air vehicles that use a PID control based autopilot.