The development of unmanned aerial vehicles (UAV) has recently become a popular topic at research institutions. These new UAV designs tend to create smaller, lighter, and application specific vehicles. This thesis describes the design of a telerobotically controlled UAV system and the development of hardware and software for an instrumentation system to be used on a lightweight radio controlled (R/C) park flyer aircraft. This requires that the instrumentation system meet the size and weight constraints as well as measure the dynamics of the aircraft using a set of minimal sensors with limited processing capabilities.