A quadrotor is needed by geologists to do surveillance and monitoring in several disaster-prone areas. Therefore, quadrotors which are able to perform autonomous hovering in order to move from one location to another are required. Based on the problem, This paper presents the trajectory and altitude control for autonomous hovering of quadrotor by using fuzzy logic controller. This algorithm is applied to the altitude control that serves to control the quadrotor to hover at a specific position. It is also applied on the trajectory control so that the quadrotor will be able to move to x and y trajectories. The proposed algorithm shows that quadrotor can quickly hover at a predetermined height taking rise time in 1.5 second and settling time at 1.9 second. Furthermore, the quadrotor is able to move from the initial position to the next position with the rise time in 1.4 second and settling time at 2 second.