This is the author version of an article published as: Mejias, Luis and Mondragon, Ivan and Correa, Juan F. and Campoy, Pascual (2007) Multipurpose control architecture for visual control of a robotic helicopter-COLIBRI. In Proceedings Workshop in Control Architectures for Robots, Madrid, Spain. Copyright 2007 (please consult author) Accessed from http://eprints.qut.edu.au