In this paper we present our experience in development of autonomous control system of UAV. The visitors will get to know about the technologies, which we have used and which have made it possible to develop a full-functioning prototype within a short time. The paper contains a set of explicit suggestions how to organize prototype development process, choose middleware system and to setup and use ROS components and third-party packages. We also compare prototype-based approach with parallel development of hardware and software components. The paper will be most useful to developers of a similar projects.