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The effect of wind on small quadrotor vehicle flight control can be quite significant, and can lead to dangerous situations when operating in close proximity to obstacles or other aerial vehicles. This work seeks to improve quadrotor positioning performance by formally modeling the wind effects on quadrotor dynamics in order to estimate wind velocities in flight and control the vehicle accordingly. Models for wind disturbances, quadrotor dynamics in wind and onboard measurements are presented and an estimation algorithm is developed for the current wind velocity experienced by the vehicle. This wind estimate is used to improve positioning accuracy by both eliminating the effect of wind on the feedback position control law and adding a wind compensator to mitigate the effect of the expected wind disturbance. Simulation results are presented for multiple scenarios, and work is ongoing for implementation on board a …