Unmanned Aerial Vehicle (UAV) quadcopter is a copter with four driving motors. It is widely used in various applications including agriculture because the design is simple and the concept of motion is easy to understand. However, currently, the widely sold quadcopters in the Indonesian market are quadcopters that are controlled manually using remote control. In this work, we developed two autonomous UAV quadcopters that can fly autonomously according to two predetermined trajectories, i.e., rectangular and circular trajectories. This preliminary work aims to support various quadcopter applications for smart and precision farming on fix agricultural lands. The trajectories are predetermined in accordance to the landforms and the quadcopters are expected to follow these trajectories autonomously. This study has succeeded in building two autonomous quadcopter with different specifications: quadcopter type F450 and quadcopter type F330. The experimental testing results show that the average latitude and longitude mean squared error of the quadcopter flight is 6.79×10-10 for the F450 quadcopter and 1.45×10-8 for the F330 quadcopter. The flight sensors data obtained in this study is available to be used for research and educational purposes. Please contact the authors for access to the UAV flight data.