This paper presents outdoor fully autonomous control for a Quad-Rotor MAV (Micro Air Vehicle). In case of natural disaster like earthquake, a MAV will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. Our Autonomous Rotary-wing MAV is a quad-rotor type MAV which total mass is 660g and is capable of 10 minute outdoor flights. In order to measure the relative position of the MAV, we have installed a sensor-board which includes GPS, gyro, and acceleration sensors on our MAV. So it can achieve fully autonomous flight control with the complete embedded system. We also have installed a wireless camera to our MAV so it can transmit image data to the ground station. This paper describes model based autonomous hovering control, guidance control performance of our quad-rotor MAV.