Summary: This paper presents the modeling, the design of a sliding mode integral controller and visualization for a model-scale autonomous helicopter. The nonlinear dynamics model of the helicopter is derived systematically in a top-donw manner. The dynamics can be divided into three sub-systems, rigid body equations, force and torque equations and thrust and flapping equations. The thrust equation is expressed in a function of blade rotation speed and blade pitch angle. Linearization is applied to obtain a linear model for designing a linear controller. A sliding mode integral controller is developed to stabilize and tracking reference signal for the model-scale helicopter. Visualization is developed to give scene close to the realism. The proposed scheme is tested via simulation, it presents good stability augmentation and tracking performance.