A hierarchical control scheme for control of a quadrotor equipped with 2-link planar manipulator, which takes into consideration the dynamic coupling between the two, is proposed. The control scheme consists of three layers: a planning algorithm to determine the desired position setpoints for the quadrotor and the manipulator, a position control scheme to track these generated set-points and provide attitude references and a model-based attitude control scheme to track the provided attitude references. A simulation case-study is developed to demonstrate the functionality of the proposed control scheme. © 2019 IEEE.