Quadcopters or Drones are there with the Military or Government for a long time but these are gaining popularity among the civilians from past few years. Drones have evolved from Manual control to Autonomous Control in the few years of research. Now a days we can buy drones from online stores easily. But when it comes to making one by own is a tedious task. In this paper we have focused on making a drone from starting. By making own flight controller using Arduino Mega and Obstacle detection and Avoiding Unit using Raspberry Pi with the help of Accelerometer, Gyroscope and Barometer sensors along with GPS modules and camera modules to make quadcopter go autonomous. Raspberry Pi makes the Real Time calculations for the Obstacle Detection and Avoidance and Arduino Mega steers the quadcopter according to the commands received from the Raspberry Pi or the receiver and calculations made using dedicated PID controller.