The paper presents an on - board estimation , navigation and control architecture for multi - rotor drones flying in urban environment . It consists of adaptive algorithms to estimate vehicle 's aerodynamic drag coefficients with respect to still air and the urban wind components along the flight trajectory , with guaranteed fast and reliable convergence to the true values ; navigation algorithms to generate feasible trajectories between given way - points that take into account the estimated wind ; and of control algorithms to track the generated trajectories as long as the vehicle retains sufficient number of functioning rotors capable of compensating for the estimated wind . All components of this on - board system are computationally effective and are intended for a real time implementation . The algorithms were tested in simulations .