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For UAV-based urban airborne alert, a high reliability design and verification procedure is developed for the capability of autonomous path planning and autopilot controller of an unmanned aerial vehicle. Followed by model-based design pattern, the design and verification of flight control system is carried out step by step, control law software is designed and verificated, then rapid-prototyping and hardware in the loop. The control law software is developed in terms of Simulink model and simulated synchronously. The confirmed software is then compiled and download in Higale real-time system for rapid-prototyping. When DSP-based controller board is manufactured, control law software is downloaded, and hardware in the loop simulation is conducted. At last, full scale UAV ground test is proceeded and verified. With the proposed design and verification method, most faults are explored to and modified timely by the designer early in the program, which guarantees the progress, cost reduction and high quality.